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...

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Bibliographic Details
Published inEngineering applications of artificial intelligence Vol. 12; no. 4; pp. 543 - 554
Main Authors Fernandez, Juan A., Gonzalez, J., Mandow, L., Pérez-de-la-Cruz, J.L.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.08.1999
Subjects
Goal satisfaction
Mobile robots
Multicriteria decision theory
Path planning
Goal satisfaction
Path planning
Mobile robots
Multicriteria decision theory
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ISSN0952-1976
1873-6769
DOI10.1016/S0952-1976(99)00018-4

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Summary: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 efficient 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.
ISSN:0952-1976
1873-6769
DOI:10.1016/S0952-1976(99)00018-4