关键词: 多目标优化, 导航系统, 动态路径规划, 增量路径规划, 方向性

Abstract: Path planning are the key tasks in many applications such as vehicles, robotic trips, UAV path recommendations and computer games. Most of the existing path planning algorithms are often simplified as single objective optimization problems. However, multiple planning objectives which can’t transform to each other have to be taken into consideration in reality. Based on the known path planning algorithm （D*Lite）, this paper proposes a new multi-objective path-smoothing planning algorithm named smoothing multi-objective D*Lite algorithm. This algorithm needs to construct an initial multi-objective smoothing path, when it detects changes of the environment, only the affected nodes are updated and a new multi-objective smoothing path is re-planned from the current node by adopting the incremental search thought. The simulation results show that the proposed algorithm can not only avoid unexpected obstacles with effect, have less inflection point on the planning path and improve searching efficiency, but also can be applied to the navigation system with different non-interactive planning objectives effectively.

Key words: multi-objective optimization, navigation system, dynamic path planning, incremental path planning, directivity