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Autonomous vehicle navigation requires the integration of many technologies such as path tracking. In path tracking design, we must take into account the dynamic of actuators in order to reduce overshoots appearing for small displacements. It permits the generation of an optimal movement reference-input giving a minimum path completion time, taking into consideration the maximum velocity, acceleration...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
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...
Obstacle danger level is taken into consideration in path planning using fractional potential maps. This paper describes the two optimisation methods tested: the A* algorithm and the Fast-Marching technique. The efficiency of the two approaches is illustrated and compared through a vehicle path planning application in a fixed obstacle environment. A * is a heuristically ordered research algorithm...
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