PSO-Based Robot Path Planning for Multisurvivor Rescue in Limited Survival Time
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-09-25
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Since the strength of a trapped person often declines with time in urgent and dangerous circumstances, adopting a robot to rescue as many survivors as possible in limited time is of considerable significance.
However, as one key issue in robot navigation, how to plan an optimal rescue path of a robot has not yet been fully solved.
This paper studies robot path planning for multisurvivor rescue in limited survival time using a representative heuristic, particle swarm optimization (PSO).
First, the robot path planning problem including multiple survivors is formulated as a discrete optimization one with high constraint, where the number of rescued persons is taken as the unique objective function, and the strength of a trapped person is used to constrain the feasibility of a path.
Then, a new integer PSO algorithm is presented to solve the mathematical model, and several new operations, such as the update of a particle, the insertion and inversion operators, and the rapidly local search method, are incorporated into the proposed algorithm to improve its effectiveness.
Finally, the simulation results demonstrate the capacity of our method in generating optimal paths with high quality.
American Psychological Association (APA)
Geng, N.& Gong, Dunwei& Zhang, Y.. 2014. PSO-Based Robot Path Planning for Multisurvivor Rescue in Limited Survival Time. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1044069
Modern Language Association (MLA)
Geng, N.…[et al.]. PSO-Based Robot Path Planning for Multisurvivor Rescue in Limited Survival Time. Mathematical Problems in Engineering No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-1044069
American Medical Association (AMA)
Geng, N.& Gong, Dunwei& Zhang, Y.. PSO-Based Robot Path Planning for Multisurvivor Rescue in Limited Survival Time. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1044069
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1044069