Title :
Multiobective motion planning for a nonholonic vehicle
Author :
Spais, Vasilios A. ; Petrou, L.P.
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Greece
Abstract :
A technique is proposed for integrating a probabilistic graph construction algorithm with an evolutionary multiobjective optimizer. A hybrid planner (EvoVBPR) for nonholonic robotic vehicle is presented. It integrates a probabilistic roadmap construction method (VBPR) with the SPEA2 evolutionary multiobjective algorithm and an additional deterministic graph pruning step. The result is a Pareto set of roadmaps that represent different tradeoffs between length of path and obstacle clearance.
Keywords :
Pareto analysis; evolutionary computation; graph theory; mobile robots; probability; EvoVBPR; Pareto set; SPEA2 evolutionary algorithm; deterministic graph; hybrid planner; multiobective motion planning; nonholonic vehicle; probabilistic graph; probabilistic roadmap construction; robotic vehicle; Automotive engineering; Encoding; Genetic mutations; Guidelines; Kinematics; Motion planning; Path planning; Road vehicles; Robots; Stochastic processes;
Conference_Titel :
Evolutionary Computation, 2003. CEC '03. The 2003 Congress on
Print_ISBN :
0-7803-7804-0
DOI :
10.1109/CEC.2003.1299926
