Mobile robot path planning: a multicriteria approach

This paper addresses the problem of searching paths in a graph-based model of the environment for mobile robot navigation. Unlike conventional approaches, where just a scalar cost (or a scalar function combining several costs) is to be optimized, this paper proposes a multicriteria path planner that provides an eAcient and natural way of both defining and solving problems in which conflicting criteria are involved. In particular, the multicriteria METAL-A algorithm is used as the core of a mobile robot global path planner. This algorithm has been implemented and tested in the RAM-2 mobile robot for indoor navigation. The results presented demonstrate the performance of the algorithm when dealing with energy-consumption, temporal, and clearance restrictions on the paths. # 1999 Elsevier Science Ltd. All rights reserved.

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