Intelligent Path Planning for Rescue Robot
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 32771
Intelligent Path Planning for Rescue Robot

Authors: Sohrab Khanmohammadi, Raana Soltani Zarrin

Abstract:

In this paper, a heuristic method for simultaneous rescue robot path-planning and mission scheduling is introduced based on project management techniques, multi criteria decision making and artificial potential fields path-planning. Groups of injured people are trapped in a disastrous situation. These people are categorized into several groups based on the severity of their situation. A rescue robot, whose ultimate objective is reaching injured groups and providing preliminary aid for them through a path with minimum risk, has to perform certain tasks on its way towards targets before the arrival of rescue team. A decision value is assigned to each target based on the whole degree of satisfaction of the criteria and duties of the robot toward the target and the importance of rescuing each target based on their category and the number of injured people. The resulted decision value defines the strength of the attractive potential field of each target. Dangerous environmental parameters are defined as obstacles whose risk determines the strength of the repulsive potential field of each obstacle. Moreover, negative and positive energies are assigned to the targets and obstacles, which are variable with respects to the factors involved. The simulation results show that the generated path for two cases studies with certain differences in environmental conditions and other risk factors differ considerably.

Keywords: Artificial potential field, GERT, path planning

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1331515

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1794

References:


[1] J. Martinez, P. Ioannou, "Project scheduling using state-based probibilistic decision networks," Simulation Conf. Proc. U.S.A. 1998, pp. 1287-1294
[2] R. Soltani Zarrin, S. Khanmohammadi, "Scheduling rescue robot mission", Proc. of International Conf. on Operations Research, Nov 2010, Italy, Year 6 Issu 71 (ISSN: 1307-6892), pp. 689-694,.
[3] M. Spong, S. Hutchinson, M.Vidyasagar, "Robot modeling and control", John Wiley 2006.
[4] Xiaoyong Zhang and et al, "A rescue robot path planning based on Ant Colony optimization algorithm", Information Technology and Computer Science, 2009. ITCS 2009 International Conf., July 2009, p 180 - 183, 978-0-7695-3688-0
[5] Yan Hua Liang, Cheng Tao Cai,"Research on path planning of pine pescue pobots pased on puzzy pontrol", Jornal of Applied Mechanics and Materials, pp. 3593-3600, Dec 2010.
[6] Qin Shi-yin, GAO Shu-zheng, "Path planning for mobile rescue robots in disaster areas with complex environments, Caii transaction on intelligent systems,
[7] Y. Koren and J. Borenstein, "Potential field methods and their inherent limitations for mobile robot navigation," Proc. IEEE Conf. Robotics and Automation, Sacramento,1991, pp. 1398-1404.
[8] J. Latombe, Robot Motion Planning. Norwell, MA: Kluwer, 1991.
[9] S. S. Ge and Y. J. Cui, "New Potential Functions for Mobile Robot Path Planning", IEEE transactions on robotics and automation, vol. 16, no. 5, october 2000
[10] K. S. AlSultan and M. D. S. Aliyu, "A new potential field-based algorithm for path planning," J. Intell. Robot. Syst., vol. 17, no. 3, pp.265-282,Nov.1996