Multi-target route planning method considering target node timeliness

Abstract

Provided is a multi-target route planning device and method considering searching robot target node timeliness. A multi-target genetic algorithm is used to achieve route planning considering two optimization objectives including route consumption and the node timeliness through two stages of decoupling which comprise the route planning and route generating, and therefore improvement of searching performance of a mobile robot which is supervised by an operator is benefited. Particularly, when the problem of the node timeliness needs to be considered in the process of route searching, a good searching manifestation can be obtained.

Description

technical field [0001] The invention relates to a multi-objective path planning device and method considering the timeliness of a search robot target node, in particular to a multi-objective path planning method considering the timeliness of the target node and path consumption. Background technique [0002] Compared with fully autonomous search robots, autonomous robots with operator supervision can perform better in some search scenarios. With an appropriate and effective operator interaction framework, the search robot can get useful high-level assistance, such as task-level target point selection and important task execution confirmation, etc. In supervised robotic environment exploration and rescue tasks, it is often necessary to consider multi-objective optimization of the task. In these tasks, in addition to the optimization goal of total path consumption, traffic environment, access sequence, resource utilization, etc. also need to be considered. Many methods for s...

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Problems solved by technology

In particular, when there are many obstacles between two nodes, the method using Euclidean distance will produce serious errors

[0009] In addition, in the research on the search algorithm considering multiple search tar

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