A Multi-objective Incremental Path Planning Algorithm for Mobile Agents

Path planning is a crucial issue in unknown environments where an autonomous mobile agent has to reach a particular destination from some initial location. There are several incremental algorithms such as D* [1], D* Lite [2] that are able to ensure reasonable paths in terms of path length in unknown...

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Vydané v:2012 IEEE/WIC/ACM International Conferences on Web Intelligence and Intelligent Agent Technology Ročník 2; s. 401 - 408
Hlavní autori: Oral, Tugcem, Polat, Faruk
Médium: Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: IEEE 01.12.2012
Predmet:
Autonomous aerial vehicles
Classification algorithms
Costs
Heuristic algorithms
incremental search algorithm
multi-objectivity
Navigation
Path planning
Planning
Search problems
Vectors
Vehicle dynamics
ISBN:9781467360579, 1467360570
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Shrnutí:Path planning is a crucial issue in unknown environments where an autonomous mobile agent has to reach a particular destination from some initial location. There are several incremental algorithms such as D* [1], D* Lite [2] that are able to ensure reasonable paths in terms of path length in unknown environments. However, in many real-world problems we realize that path length is not only the sole objective. For example in computer games, a non-player character needs to not only find a minimum cost path to some target location but also minimize threat exposure. This means that path planning/finding activity of an agent in a multi-agent environment has to consider more than one objective to be achieved. In this paper, we propose a new incremental search algorithm called MOD* Lite extending Koenig's D* Lite algorithm and show that MOD* Lite is able to optimize path quality in more than one criteria that cannot be transformed to each other. Experimental results show that MOD* Lite is able to find optimal solutions and is fast enough to be used in real-world multi-agent applications such as robotics, computer games, or virtual simulations.
ISBN:9781467360579
1467360570
DOI:10.1109/WI-IAT.2012.143