[1]QIN Shi-yin,GAO Shu-zhen.Path planning for mobile rescue robots in disaster areas with complex environments[J].CAAI Transactions on Intelligent Systems,2009,4(5):414-420.[doi:10.3969/j.issn.1673-4785.2009.05.005]
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Path planning for mobile rescue robots in disaster areas with complex environments

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 4 Number of periods: 2009 5 Page number: 414-420 Column: 学术论文—智能系统 Public date: 2009-10-25
Title:
Path planning for mobile rescue robots in disaster areas with complex environments
Author(s):
QIN Shi-yin;  GAO Shu-zhen
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
Keywords:
path planning;  obstacles encoding;  robot rescue;  genetic algorithm
CLC:
TP242.6
DOI:
10.3969/j.issn.1673-4785.2009.05.005
Abstract:
Rescue robots often work in complex environments and their effectiveness can determine whether victims will survive. This makes research on robot path planning of great significance. In this paper, obstacles in complex environments were modeled as polygons. Based on the encoded polygon, a new path planning algorithm was proposed using genetic algorithms. Compared with previous vertex-based encoding methods, the proposed encoding method can more easily adapt to the irregular shapes of obstacles. The solution space is thus considerably reduced, improving the efficiency and real-time performance of the path planning algorithm. Experimental results demonstrated that the algorithm can effectively guide a robot around obstacles in complex environments, producing acceptable paths for robots covering difficult terrain in rescues. The algorithm can be extended to practical rescue systems involving multiple robots.
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