非全息飞行器的多目标运动规划

The 2003 Congress on Evolutionary Computation, 2003. CEC '03. Pub Date : 2003-12-08 DOI:10.1109/CEC.2003.1299926

V. Spais, L. Petrou

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引用次数: 3

摘要

提出了一种将概率图构造算法与进化多目标优化器相结合的方法。提出了一种基于EvoVBPR的非全息机器人混合规划方法。它将概率路线图构建方法(VBPR)与SPEA2进化多目标算法相结合，并增加了一个确定性图修剪步骤。结果是一个帕累托地图集，它代表了路径长度和障碍清除之间的不同权衡。

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Multiobective motion planning for a nonholonic vehicle

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.

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The 2003 Congress on Evolutionary Computation, 2003. CEC '03.

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