Dynamic path planning by fractional potential

Abstract

In path planning, potential fields can introduce force constraints to ensure curvature continuity of trajectories and thus facilitate path-tracking design. This paper presents the comparison between two methods. The first one is the extension of the fast marching method used for path planning design by fractional potential. A fractional road is determined by taking into account danger of each obstacle. Danger level of each obstacle is characterized by the fractional order of differentiation. The extension of the method consists to determine the discrete optimal motion planning and to consider intermediates points near the discrete optimal trajectory as target for the robot. The interest of the algorithm is to take into account the dynamic of the robot by using attractive potential field for each target. The second method is the extension to dynamic obstacles characterized by fractional potential fields by using the Ge and Cui method which is the potential fields for motion planning of mobile robots in a dynamic environment