Multi-objective Path Planning for the Mobile Robot

摘要

Based on the global information environment, this paper introduces a multi-objective path planning algorithm for the mobile robot using grid map under the uncertainty environment. Establish global information environment maps utilizing Hough transform. Give value to the free grids using target distance information to simplify the establishment of the grid maps state space and the search strategy. Execute relatively shortest path search using the state space of the grid map with path chain list method. On this basis will give a group of path meeting with several indexes. The exploration method doesn't need complicated computation. Furthermore it is effectiveness in maturity, time complexity, space complexity and optimization meeting with multi-objective. The simulation results also demonstrate the effectiveness of the algorithm.