PATH PLANNING WITH MULTIPLE OBJECTIVES

Most path planners are designed to generate a single path that is opti mal in terms of some criterion such as path length or travel time. How ever, for realistic terrain navigation we wish to find a path that is reasonable to execute in a given environment, Therefore we must consid er several factors, such as safety, time, and energy consumption. In t his article the authors investigate how to find a set of paths (as opp osed to a single path) so as to permit various choices concerning mult iple criteria. They present simulation results to demonstrate the feas ibility of the approach and discuss an extension to navigation ,in tim e-varying scenes.