Annealing-based guidance of a rescue robot for rescue mission with multi-goal navigation

Abstract

Mission of a rescue robot is to search for some certain points and find trapped people or valuables to be rescued in an unknown terrain. A rescue robot should be able to be navigated to multiple goals. In this paper, a multi-goal navigation and mapping solution is found by simulated annealing (SA) based multi-goal navigation integrated a local navigator. The robot is guided by SA-based multi-goal route planner to search for multiple goals. Among goals, the robot is navigated by point-topoint global path planner and sensor-based local navigator while a local map is constructed gradually by exploring the unknown terrain. The simulation studies demonstrate the proposed integrated methodology is efficient, effective, and robust.

Planificador estratégico para operaciones de rescate mediante vehículos terrestres no tripulados

“…En cuanto al uso de UGV, en [15] se presentó un control descentralizado que permite guiar un conjunto de vehículos a partir de mapas 3D proporcionados por una formación de UAV. Por otra parte, en [12] se adoptó un enfoque multi-objetivo para resolver el problema del viajante, de modo que un único UGV visite todos los puntos objetivos una sola vez, regresando al punto inicial y con la menor distancia total recorrida. Asimismo, en [4] se aborda la distribución de distintas tareas de respuesta a emergencias para un sistema UAV/UGV.…”