Path planning with multiple objectives

Most path planners are designed to generate a single path that is optimal in terms of some criterion such as path length or travel time. However, for realistic terrain navigation we wish to find a path that is reasonable to execute in a given environment. Therefore we must consider several factors, such as safety, time, and energy consumption. In this article the authors investigate how to find a set of paths (as opposed to a single path) so as to permit various choices concerning multiple criteria. They present simulation results to demonstrate the feasibility of the approach and discuss an extension to navigation in time-varying scenes