The CRONE path planning Original Research Article

This article presents a trajectory planning strategy with a time law which, using a generalized potential, makes it possible to take into account the risk presented by each obstacle. Section 2 defines the generalized potential at a given point created by an obstacle, the risk coefficient of which is given. This potential is then used in Section 3 to obtain a trajectory for a mobile robot in an environment cluttered with known obstacles. Section 4 presents the use of this technique in an example.