Multi-objective path planning for unrestricted mobile

Problem of multi-objective path planning is investigated in this paper for the ball and plate system. The purpose of multi-objective path planning is to obtain the safe and shortest path for the ball to track. Workspace is represented by distance map and hazard map. Weights for multi-objectives are...

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Published in2009 IEEE International Conference on Automation and Logistics pp. 1046 - 1051
Main Authors Feng Guo, Hongrui Wang, Yantao Tian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2009
Subjects
ball and plate system
Entropy
entropy weight
Fuzzy sets
Hazards
Logistics
Mathematical programming
Mobile communication
multi objective
Path planning
Robotics and automation
Skeleton
Structural beams
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ISBN9781424447947
1424447941
ISSN2161-8151
DOI10.1109/ICAL.2009.5262574

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Abstract Problem of multi-objective path planning is investigated in this paper for the ball and plate system. The purpose of multi-objective path planning is to obtain the safe and shortest path for the ball to track. Workspace is represented by distance map and hazard map. Weights for multi-objectives are calculated by entropy method for each grid node. Dijkstra algorithm is employed to solve the multi-objective path planning problem finally. As illustrated by simulation results, the path obtained by multi-objective method proposed in this paper is much safer compared with single-objective A* algorithm.
AbstractList Problem of multi-objective path planning is investigated in this paper for the ball and plate system. The purpose of multi-objective path planning is to obtain the safe and shortest path for the ball to track. Workspace is represented by distance map and hazard map. Weights for multi-objectives are calculated by entropy method for each grid node. Dijkstra algorithm is employed to solve the multi-objective path planning problem finally. As illustrated by simulation results, the path obtained by multi-objective method proposed in this paper is much safer compared with single-objective A* algorithm.
Author Yantao Tian
Hongrui Wang
Feng Guo
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  surname: Yantao Tian
  fullname: Yantao Tian
  organization: Inst. of Autom., Jilin Univ., Changchun, China
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Snippet Problem of multi-objective path planning is investigated in this paper for the ball and plate system. The purpose of multi-objective path planning is to obtain...
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StartPage 1046
SubjectTerms ball and plate system
Entropy
entropy weight
Fuzzy sets
Hazards
Logistics
Mathematical programming
Mobile communication
multi objective
Path planning
Robotics and automation
Skeleton
Structural beams
Title Multi-objective path planning for unrestricted mobile
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