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High Performance Programming for Soft Computing
book

High Performance Programming for Soft Computing

by Oscar Montiel Ross, Roberto Sepulveda
February 2014
Intermediate to advanced content levelIntermediate to advanced
376 pages
11h 49m
English
CRC Press
Content preview from High Performance Programming for Soft Computing
High-performance Navigation System for Mobile RobotsHigh-performance Navigation System for Mobile Robots 263
Considering the quadratic range radio d
a
with m = 2, Andrews (Park
and Lee 2003) proposes the attractive potential function given by (12.2.5),
ܷ
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ݍ
ൌ൜
݇
ȁ
ݍെݍ
ȁ
݂݅
ȁ
ݍെݍ
ȁ
൑݀
݇
ʹ݀
ȁ
ݍെݍ
ȁ
െ݀
݂݅
ȁ
ݍെݍ
ȁ
൐݀
(12.2.5)
where the attractive force F
att
can be described using (12.2.6),
ܨ
௔௧௧
ݍ
ൌെ׏ܷ
௔௧௧
ൌቊ
െʹ݇
ݍെݍ
݂݅
ȁ
ݍെݍ
ȁ
൑݀
െʹ݀
݇
௤ି௤
ȁ
௤ି௤
ȁ
݂݅
ȁ
ݍെݍ
ȁ
൐݀
(12.2.6)
12.2.2 Repulsive potential
The repulsive potential function has a limited range of infl uence. The
movement of the robot is affected by a distant obstacle. ...
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Publisher Resources

ISBN: 9781466586017