Attractive force based on generalized potential for mobile robot path planning in dynamic environment.

In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous work, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles. A fractional road was determined by taking into account danger of each obstacle. Danger level of each obstacle is characterized by the fractional order of differentiation. In this paper a comparison between each classical attractive force is presented. Then a new attractive force based on fractional potential is introduced, with the aim to extend the method to dynamic obstacle.