Multiobjective path planning under dynamic uncertain environment

作者：Wei Wei^*; Ouyang Dan Tong; Lu Shuai; Feng Yu Xuan

来源：Chinese Journal of Computers, 2011, 34(5): 836-845.

DOI：10.3724/SP.J.1016.2011.00836

• Dynamic uncertain environments
• Global planning
• Heuristic search
• Multi objective
• Re-planning

In this paper, a method for adjusting the executing path of multiobjective path planning problems under dynamic uncertain environments is proposed. The backward multiobjective heuristic search algorithm is proposed firstly which starts the search process from the goal state to the start state to solve the given multiobjective problem. Then the dynamic multiobjective path planning algorithm is proposed. The algorithm performs global planning according to initial observations to the state space. Incremental replanning process is performed immediately when changes of environment are detected during the moving process. The replanning process can execute incrementally based on the global planning process to revise the path between any current state and the goal state efficiently by reusing parts of the saved information of the previous search. The experiment results show that the dynamic multiobjective path planning algorithm adopting an incremental replanning can solve multiobjective path planning problems under dynamic uncertain environments efficiently by reusing the information of previous search.

• 出版日期2011