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New interpretation of fractional potential fields for robust path planning

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.