The CRONE path planning

A. Oustaloup and H. Linarès

Mathematics and Computers in Simulation (MATCOM), 1996, vol. 41, issue 3, 209-217

Abstract: This article presents a trajectory planning strategy with a time law which, using a generalized potential, makes it possible to take into account the risk presented by each obstacle. Section 2 defines the generalized potential at a given point created by an obstacle, the risk coefficient of which is given. This potential is then used in Section 3 to obtain a trajectory for a mobile robot in an environment cluttered with known obstacles. Section 4 presents the use of this technique in an example.

Date: 1996
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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:41:y:1996:i:3:p:209-217

DOI: 10.1016/0378-4754(95)00071-2

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