Dynamic path planning for mobile robots using fractional potential field

摘要

In path planning design, potential fields can introduce force constraints to ensure curvature continuity of trajectories and thus facilitate pathtracking design. The parametric thrift of fractional potentials permits smooth variations of the potential in function of the distance to obstacles. In the approach used, the fractional order of differentiation is the risk coefficient associated to obstacles. As the environment is often dynamic, we extend this method to dynamic obstacles. In this paper the Ge and Cui method is used to take into account the obstacles movement: it is the potential field method for motion planning of mobile robots in a dynamic environment.