Multi-objective route planning approach for timely searching tasks of a supervised robot

To performance efficient searching for an operator-supervised mobile robot, a multiple objectives route planning approach is proposed considering timeliness and path cost. An improved fitness function for route planning is proposed based on the multi-objective genetic algorithm (MOGA) for multiple objectives traveling salesman problem (MOTSP). Then, the path between two route nodes is generated based on the heuristic path planning method A*. A simplified timeliness function for route nodes is proposed to represent the timeliness of each node. Based on the proposed timeliness function, experiments are conducted using the proposed two-stage planning method. The experimental results show that the proposed MOGA with improved fitness function can perform the searching function well when the timeliness of the searching task needs to be taken into consideration.