Jinxu Sun

Hierarchical path planning based on Bi‐RRT* and fractional‐order APF for vehicle obstacle avoidance in dynamic environments

The traditional artificial potential field (APF) method in intelligent vehicle path planning has some issues. It tends to fall into local optima for the target point, and suffers from insufficient trajectory smoothness. To address these issues, a hierarchical planning method is proposed that integrates the bidirectiona...