The CRONE toolbox for Matlab: fractional path planning design in robotics

Abstract

Interactive communication between robots and humans is presented through a human interface design for path planning and through the use of fractional potential to take into account danger of obstacles. A pedagogic programming is also presented for both users and developers within the "Fractional Path Planning Design" module of the CRONE toolbox. Different path planning methods, which use a fractional map of danger are included in the toolbox, especially the A* algorithm and a fast marching technique. With both methods, dangers of obstacles are gradually taken into account to anticipate collision and also to provide smoother trajectories. The fast marching technique provides a systematically convex map with a unique minimum: all the trajectories can be evaluated in real time, whatever the start point.