Multiobjective motion planning for a nonholonomic vehicle

被引：0
|
作者：
Spais, VA [1 ]
Petrou, LP [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece
来源：
CEC: 2003 CONGRESS ON EVOLUTIONARY COMPUTATION, VOLS 1-4, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP31 [计算机软件];
学科分类号：
081202 ; 0835 ;
摘要：
A technique is proposed for integrating a probabilistic graph construction algorithm with an evolutionary multiobjective optimizer. A hybrid planner (EvoVBPR) for a nonholonomic robotic vehicle is then 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.
引用
收藏
页码：2058 / 2065
页数：8
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