关键词: 多目标路径规划，实时搜索，局部空间，启发式搜索

Abstract: A method adopting the idea of real-time search for solving multiobjective path planning problems was proposed, a local path planning algorithm was designed and implemented which executes a heuristic search within a limited local space to get all of the local non-dominated paths. After that, the method of real-time multiobjective path planning was proposed and the corresponding heuristic search algorithm was designed and implemented. The algorithm executes path planning process, learning process and moving process online by turns to get the set of local optimal paths, transfers the current state in the local space and updates heuristic information of the local states respectively until reaching the goal state successfully. Test results show that the algorithm can solve multiobjective path planning problems efficicntly by limiting local search space which can avoid lots of unnecessary computing work and thus improve the search efficiency.

Key words: Multiobjective path planning,Rea1-time scarch,Local space,Hcuristic search