Multi-objective approach for robot motion planning in search tasks

摘要

This work addresses the problem of single robot coverage and exploration in an environment with the goal of finding a specific object previously known to the robot. As limited time is a constraint of interest we cannot search from an infinite number of points. Thus, we propose a multi-objective approach for such search tasks in which we first search for a good set of positions to place the robot sensors in order to acquire information from the environment and to locate the desired object. Given the interesting properties of the Generalized Voronoi Diagram, we restrict the candidate search points along this roadmap. We redefine the problem of finding these search points as a multi-objective optimization one. NSGA-II is used as the search engine and ELECTRE I is applied as a decision making tool to decide among the trade-off alternatives. We also solve a Chinese Postman Problem to optimize the path followed by the robot in order to visit the computed search points. Simulation results show a comparison between the solution found by our method and solutions defined by other known approaches. Finally, a real robot experiment indicates the applicability of our method in practical scenarios.