Title :
Multi-objective path planning for unrestricted mobile
Author :
Guo, Feng ; Wang, Hongrui ; Tian, Yantao
Author_Institution :
Inst. of Autom., Jilin Univ., Changchun, China
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.
Keywords :
path planning; Dijkstra algorithm; ball system; distance map; entropy method; grid node; hazard map; multi-objective path planning; plate system; unrestricted mobile; Entropy; Fuzzy sets; Hazards; Logistics; Mathematical programming; Mobile communication; Path planning; Robotics and automation; Skeleton; Structural beams; ball and plate system; entropy weight; multi objective; path planning;
Conference_Titel :
Automation and Logistics, 2009. ICAL '09. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4244-4794-7
Electronic_ISBN :
978-1-4244-4795-4
DOI :
10.1109/ICAL.2009.5262574
