Multiobjective search

Multiobjective path search

Most path planners generate one single path that is good for some objective. However, for terrain navigation, multiple objectives may have to be considered at once, such as safety, length, time, and energy consumption. A method is considered to find a set of paths so as to permit various choices concerning multiple criteria.

A sample terrain in which dark areas represent plateaus (high points) and the lines indicate valleys, and the black dot is the lowest point which serves as the destination. The start point is about the center of the map. We consider two path costs, namely, distance and energy cost. The second figure contains a few choices ranging from shortest (but more costly) to economical (but longer) paths.

Publication

K. Fujimura, Path planning with multiple objectives , IEEE Robotics and Automation Magazine, Vol. 3, No.1, 33-38, 1996.

All figures contained in the paper are found in this directory.

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