Multi-objective Path Planning for the Mobile Robot

摘要：

Based on the global information environment, this paper introduces a multi-objective path planning algorithm for the mobile robot using grid map under the uncertainty environment. Establish global information environment maps utilizing Hough transform. Give value to the free grids using target distance information to simplify the establishment of the grid maps state space and the search strategy. Execute relatively shortest path search using the state space of the grid map with path chain list method. On this basis will give a group of path meeting with several indexes. The exploration method doesn’t need complicated computation. Furthermore it is effectiveness in maturity, time complexity, space complexity and optimization meeting with multi-objective. The simulation results also demonstrate the effectiveness of the algorithm.

关键词： Multi-objective Mobile robot Path planning State space Grid map

作者: Caihong Li Yibin Li Fengyu Zhou Chen Fan

作者单位: School of Computer Science and Technology Shandong University of Technology Zibo, Shandong Province, School of Control Science and Engineering Shandong University Jinan, Shandong Province, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）