The AD–AHP Planner: Incremental Path Planning for Robots Incorporating Decision Theory
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Abstract
Path planning for mobile robots in dynamic environments with many objectives to regard at once is challenging and often impossible. However recent outdoor robotic applications encounter many situations when such an approach is needed. This paper presents a path planning method for mobile robots that incorporates decision theory to guide the search. The method is able to handle an arbitrary number of objectives at the same time and also enables the incorporation of human logic into the planning process. All parts of the algorithm suit real– time implementation.