“…Generally speaking, the proposed pathfinding algorithm belongs to the class of multicriteria shortest path problems initiated by Hansen, 1980 , Martins, 1984 . Most existing studies use either a weighting function to convert multiple criteria into a single criterion ( Modesti and Sciomachen, 1998 , Horváth and Kis, 2018 ) or find the set of non-dominated Pareto paths ( Martins, 1984 , Guerriero and Musmanno, 2001 , Disser et al, 2008 , Androutsopoulos and Zografos, 2009 , Reinhardt and Pisinger, 2011 , Chen et al, 2013 ; Delling et al, 2014 , Ambrosino and Sciomachen, 2014 , Shi et al, 2017 ). In comparison with previously developed methods in the literature, the novelty of our method is to consider human perception as an important element in evaluating different options.…”