経路ベース多目的D* Lite
Multi-Objective Path-Based D* Lite
複数目的の経路計画を効率化するため、経路ベースの展開で劣解を枝刈りする増分探索アルゴリズムMOPBD*とその準最適版を提案し、既存手法より最大1桁高速であることを示した。
著者: Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset
分類: cs.RO, cs.AI
原文アブストラクト
Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in developing incremental graph search algorithms for path finding problems to simultaneously optimize multiple objectives such as travel risk, arrival time, etc. This is challenging because in a multi-objective setting, the number of "Pareto-optimal" solutions can grow exponentially with respect to the size of the graph. This article presents a new multi-objective incremental search algorithm called Multi-Objective Path-Based D* Lite (MOPBD*) which leverages a path-based expansion strategy to prune dominated solutions. Additionally, we introduce a sub-optimal variant of MOPBD* to improve search efficiency while approximating the Pareto-optimal front. We numerically evaluate the performance of MOPBD* and its variants in various maps with two and three objectives. Results show that our approach is more efficient than search from scratch, and runs up to an order of magnitude faster than the existing incremental method for multi-objective path planning.
