New interpretation of fractional potential fields for robust path planning
-
Jean-Baptiste Receveur
,
Stéphane Victor
Abstract
Trajectory planning for autonomous vehicles is a research topical subject. In previous studies, optimal intermediate targets have been used in the Potential Fields (PFs). PFs are only a path planning method, or a reactive obstacle avoidance method and not a trajectory tracking method. In this article, the PFs are interpreted as an on-line control method to follow an optimal trajectory. An analysis and methodological approach to design the attractive potential as a robust controller are proposed, and a new definition of a fractional repulsive potential to characterize the dangerousness of obstacles is developed. Simulation results on autonomous vehicles are given.
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© 2019 Diogenes Co., Sofia
Articles in the same Issue
- Frontmatter
- Editorial Note
- FCAA related news, events and books (FCAA–volume 22–1–2019)
- Survey Paper
- Ranking the scientific output of researchers in fractional calculus
- A review on variable-order fractional differential equations: mathematical foundations, physical models, numerical methods and applications
- Research Paper
- From power laws to fractional diffusion processes with and without external forces, the non direct way
- Homogeneous robin boundary conditions and discrete spectrum of fractional eigenvalue problem
- The numerical algorithms for discrete Mittag-Leffler functions approximation
- New interpretation of fractional potential fields for robust path planning
- Stable distributions and green’s functions for fractional diffusions
- Fractional calculus in economic growth modelling of the group of seven
- Relationship between controllability and observability of standard and fractional different orders discrete-time linear system
- Optimal control of linear systems of arbitrary fractional order
- Fractional impulsive differential equations: Exact solutions, integral equations and short memory case
- Fractional-order modelling and parameter identification of electrical coils
- Fractional-order value identification of the discrete integrator from a noised signal. part I
Articles in the same Issue
- Frontmatter
- Editorial Note
- FCAA related news, events and books (FCAA–volume 22–1–2019)
- Survey Paper
- Ranking the scientific output of researchers in fractional calculus
- A review on variable-order fractional differential equations: mathematical foundations, physical models, numerical methods and applications
- Research Paper
- From power laws to fractional diffusion processes with and without external forces, the non direct way
- Homogeneous robin boundary conditions and discrete spectrum of fractional eigenvalue problem
- The numerical algorithms for discrete Mittag-Leffler functions approximation
- New interpretation of fractional potential fields for robust path planning
- Stable distributions and green’s functions for fractional diffusions
- Fractional calculus in economic growth modelling of the group of seven
- Relationship between controllability and observability of standard and fractional different orders discrete-time linear system
- Optimal control of linear systems of arbitrary fractional order
- Fractional impulsive differential equations: Exact solutions, integral equations and short memory case
- Fractional-order modelling and parameter identification of electrical coils
- Fractional-order value identification of the discrete integrator from a noised signal. part I
