Path planning with multiple objectives

Most path planners are designed to generate a single path that is optimal in terms of some criterion such as path length or travel time. However, for realistic terrain navigation we wish to find a path that is reasonable to execute in a given environment. Therefore we must consider several factors, such as safety, time, and energy consumption. In this article the authors investigate how to find a set of paths (as opposed to a single path) so as to permit various choices concerning multiple criteria. They present simulation results to demonstrate the feasibility of the approach and discuss an extension to navigation in time-varying scenes.

[1]  Jean-Claude Latombe,et al.  Robot Motion Planning: A Distributed Representation Approach , 1991, Int. J. Robotics Res..

[2]  Anthony Stentz,et al.  Optimal and efficient path planning for partially-known environments , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[3]  Pradeep K. Khosla,et al.  Real-time obstacle avoidance using harmonic potential functions , 1991, IEEE Trans. Robotics Autom..

[4]  Tomás Lozano-Pérez,et al.  An algorithm for planning collision-free paths among polyhedral obstacles , 1979, CACM.

[5]  Kikuo Fujimura.  Motion planning using transient pixel representations , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[6]  Anthony Stentz.  Optimal and efficient path planning for partially-known environments , 1994 .

[7]  Alberto Elfes,et al.  Using occupancy grids for mobile robot perception and navigation , 1989, Computer.

[8]  Narendra Ahuja,et al.  A potential field approach to path planning , 1992, IEEE Trans. Robotics Autom..

[9]  Norman C. Griswold,et al.  Control for mobile robots in the presence of moving objects , 1990, IEEE Trans. Robotics Autom..

[10]  Chelsea C. White,et al.  Multiobjective A* , 1991, JACM.

[11]  Osamu Takahashi,et al.  Motion planning in a plane using generalized Voronoi diagrams , 1989, IEEE Trans. Robotics Autom..

[12]  Kang G. Shin,et al.  A variational dynamic programming approach to robot-path planning with a distance-safety criterion , 1988, IEEE J. Robotics Autom..

[13]  William A. Gruver,et al.  A unified approach for robot motion planning with moving polyhedral obstacles , 1990, IEEE Trans. Syst. Man Cybern..

[14]  Hanan Samet,et al.  A hierarchical strategy for path planning among moving obstacles [mobile robot] , 1989, IEEE Trans. Robotics Autom..

[15]  Christian Laugier,et al.  Path-velocity decomposition revisited and applied to dynamic trajectory planning , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.