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Proceedings Paper

Cost-Appraising Techniques For Route Planning
Author(s): Pi-Yun Cheng
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Paper Abstract

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.

Paper Details

Date Published: 1 January 1987
PDF: 8 pages
Proc. SPIE 0852, Mobile Robots II, (1 January 1987); doi: 10.1117/12.968253
Show Author Affiliations
Pi-Yun Cheng, FMC Corporation (United States)

Published in SPIE Proceedings Vol. 0852:
Mobile Robots II
Wendell H. Chun; William J. Wolfe, Editor(s)

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