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 Introduction 1 Multiple Objectives in Path Planning Related Work 2 Multi-Objective Path Planning Decompose the Problem Sampling-based Optimization Algorithm 3 Problem Algorithm Analysis Results 4 Metrics Comparison Obstacles More Objectives Conclusion 5

Introduction Related Work Algorithm Results Conclusion Outline Introduction 1 Multiple Objectives in Path Planning Related Work 2 Multi-Objective Path Planning Decompose the Problem Sampling-based Optimization Algorithm 3 Problem Algorithm Analysis Results 4 Metrics Comparison Obstacles More Objectives Conclusion 5

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 Constraints walk quickly set out before it gets hot walk quietly 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, ......