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1 January 1987 Cost-Appraising Techniques For Route Planning
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Proceedings Volume 0852, Mobile Robots II; (1987)
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States
Cost appraisal is one of the most important elements in route planning, especially when dynamic programming is employed in the search technique. Different missions require different routes; for example, a mission may require a minimum-length path, a terrain-constrained path, a tactical path, a threat-avoidance path, a fuel-constrained path, or a combination of such paths. An optimal path is the path whose total cost is appraised to be the minimum. One difficulty in cost appraisal is in identifying common as well as mission-specific parameters. Another difficulty is in ranking the weighting coefficients, or equivalently the importance factors. Many papers can be found on finding an optimal path for some cost function. However, there has been much less published analysis discussing the detailed definitions of cost-measuring functions other than the familiar Euclidean metrics. Known methods of cost appraisal tend to be either exclusively heuristic or numerical. In this paper we present a new formulation of cost appraisal in which intertwined employment of both approaches is evident. An application example is given.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Pi-Yun Cheng "Cost-Appraising Techniques For Route Planning", Proc. SPIE 0852, Mobile Robots II, (1 January 1987);

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