Multi-Objective Path Planning for Unrestricted Mobile

被引：8

作者：

Guo, Feng ^{[1
]}

Wang, Hongrui ^{[1
]}

Tian, Yantao ^{[1
]}

机构：

[1] Jilin Univ, Inst Automat, Sch Commun Engn, Changchun 130022, Peoples R China

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3 | 2009年

关键词：

multi objective; path planning; entropy weight; ball and plate system; FUZZY;

D O I：

10.1109/ICAL.2009.5262574

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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(star) algorithm.

引用

页码：1046 / 1051

页数：6

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