2023
DOI: 10.3390/electronics12092105
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Multi-Objective Combinatorial Optimization Using the Cell Mapping Algorithm for Mobile Robots Trajectory Planning

Abstract: The use of optimal control theory for motion planning is a challenging task. Cell mapping offers a way to formulate combinatorial optimization problems, allowing the inclusion of complex cost functions as well as multi-objective optimization problems. This paper presents a suboptimal solution for a trajectory planning problem in a workspace with obstacles, for a differential drive mobile robot. This method relies on the use of any linearization technique that allows the regularization of the combinatorial opti… Show more

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Cited by 6 publications
(2 citation statements)
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“…Additionally, several researchers have explored the field of multi-objective pathplanning optimization [33][34][35][36][37][38][39]. However, they have not yet provided a definitive solution to the challenge of the lengthy solving time for multi-objective path planning when dealing with many groups.…”
Section: Related Workmentioning
confidence: 99%
“…Additionally, several researchers have explored the field of multi-objective pathplanning optimization [33][34][35][36][37][38][39]. However, they have not yet provided a definitive solution to the challenge of the lengthy solving time for multi-objective path planning when dealing with many groups.…”
Section: Related Workmentioning
confidence: 99%
“…Another objective can be generated if the robot must perform missions that require mapping over large spaces; the criterion can be determined through the management of the energy resource [21]. Otherwise, if the robot has to travel along a route with obstacles, a criterion can be the shortest path between two landmarks (obstacles) [22,23].…”
Section: Introductionmentioning
confidence: 99%