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Path planning with multiple objectives

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1 Author(s)
Fujimura, K. ; Dept. of Comput. & Inf. Sci., Ohio State Univ., Columbus, OH, USA

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

Published in:

Robotics & Automation Magazine, IEEE  (Volume:3 ,  Issue: 1 )