Time Minimization of Rescue Action Realized by an Autonomous Vehicle

Electronics

卷:9

Konrad Kwaśniewski¹  Zdzisław Gosiewski¹ 

[1] Department of Automatics and Robotics, Faculty of Electrical Engineering, Bialystok University of Technology, 15-351 Białystok, Poland;

关键词: robotics;    autonomy;    obstacle avoidance;    path finding;    path optimization;    genetic algorithm;   

DOI  :  10.3390/electronics9122099

来源: DOAJ

【 摘 要 】

In rescue operations, the full time of action plays important role. It is the sum of the planning, travel, and manipulation (in the action place) phase times. The time minimization of the first two phases by autonomous vehicle for remote action is considered in the paper. For a known a priori map, the path planning consists of local optimal decisions collected next in the general algorithm of the optimal path. Such an approach significantly reduces time of path planning. The robot features and known sparse obstacles reduce the allowable robot speeds. The time of travel is calculated from an allowable velocity profile. Therefore, it can be used to estimate the travel performance. Genetic algorithm and random search-based methods for path finding with travel time optimization are used and compared in the paper. All the proposed time optimization solutions of rescue operations are checked during computer simulations, and results of the simulations are presented.

【 授权许可】

Unknown