MORRF : Sampling-based multi-objective path planning Daqing Yi - - PowerPoint PPT Presentation

Introduction Related Work Algorithm Results Conclusion

MORRF∗: Sampling-based multi-objective path planning

Daqing Yi Michael A. Goodrich Kevin D. Seppi

Department of Computer Science Brigham Young University

Introduction Related Work Algorithm Results Conclusion

Outline

Structure

1

Introduction Multiple Objectives in Path Planning

2

Related Work Multi-Objective Path Planning Decompose the Problem Sampling-based Optimization

3

Algorithm Problem Algorithm Analysis

4

Results Metrics Comparison Obstacles More Objectives

5

Conclusion

Introduction Related Work Algorithm Results Conclusion

Outline

1

Introduction Multiple Objectives in Path Planning

2

Related Work Multi-Objective Path Planning Decompose the Problem Sampling-based Optimization

3

Algorithm Problem Algorithm Analysis

4

Results Metrics Comparison Obstacles More Objectives

5

Conclusion

Introduction Related Work Algorithm Results Conclusion

Multiple Objectives in Task

Introduction

With different objectives, there are different “best” paths.

Introduction Related Work Algorithm Results Conclusion

The Need of Multi-Objective

Introduction

Multiple objectives come from a human’s intent.

Come, Little Red Riding Hood, ...... Set out before it gets hot, ...... walk quickly and quietly and do not run into water, ......

Introduction Related Work Algorithm Results Conclusion

The Need of Multi-Objective

Introduction

Objectives walk quickly walk quietly Constraints set out before it gets hot do not run off the path

Come, Little Red Riding Hood, ...... Set out before it gets hot, ...... walk quickly and quietly and do not run into water, ......