A kind of multi-goal path planing method considering that destination node is ageing

A kind of consider the ageing multi-goal path device for planning of searching machine people's destination node and method, decouple by comprising the two benches of route planning and coordinates measurement, multi-objective genetic algorithm is used to realize considering routing cost and the route planning of ageing two optimization aim of node, thus it is favorably improved the search performance of the mobile robot that operator supervises, particularly can obtain when route searching needs to consider the ageing problem of node and preferably search for performance.