DocumentCode
412727
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
Volume
3
fYear
2003
fDate
8-12 Dec. 2003
Firstpage
2058
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Evolutionary Computation, 2003. CEC '03. The 2003 Congress on
Print_ISBN
0-7803-7804-0
Type
conf
DOI
10.1109/CEC.2003.1299926
Filename
1299926
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