Sampling-based planning algorithms for multi-objective missions Conference

Rahman, MM, Bobadilla, L, Rapp, B. (2016). Sampling-based planning algorithms for multi-objective missions . 2016-November 709-714. 10.1109/COASE.2016.7743471

cited authors

  • Rahman, MM; Bobadilla, L; Rapp, B

abstract

  • Multiple objective navigation is commonly found in practice, where a path for an autonomous vehicle needs to be generated to simultaneously optimize a number of different objectives such as distance, safety, and visibility. Objectives can be weighted to solve a single objective optimization problem but appropriate weights may not be known a priori. In this paper, we formulate a series of missions for a group of vehicles that need to keep connectivity among themselves, surveil a group of targets, and minimize path lengths. These problems are solved by extending optimal sampling-based algorithms (RRT∗) to support multiple objectives, non-additive costs and cooperative conditions. We present several increasingly complicated missions in obstacle-filled environments to illustrate and compare our ideas with existing methods.

publication date

  • November 14, 2016

Digital Object Identifier (DOI)

start page

  • 709

end page

  • 714

volume

  • 2016-November