A diverse path set planning algorithm with a path set fitness function

Abstract

A diverse path set generation method to solve the two-point boundary value problem is first proposed here. The diverse path set planning algorithm (DPSP) generates the probabilistic roadmap and extracts paths that connect a fixed start and a goal point from the roadmap. The roadmap is revised as the path is extracted. The path set is evaluated by the proposed path set fitness function with respect to the diversity and the lengths of the paths using the opposite Hausdorff distance metric. By replacing the least important path in the path set, the diversity of the path set is iteratively improved. Better performance enhancements are shown by simulations in the empty map and static obstacles map.