{"title":"Annealing-based guidance of a rescue robot for rescue mission with multi-goal navigation","authors":"C. Luo, S. Furao, Simon X. Yang, Hongwei Mo","doi":"10.1109/ICINFA.2015.7279406","DOIUrl":null,"url":null,"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.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"109 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Information and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICINFA.2015.7279406","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
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.
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