Article
Version 1
Preserved in Portico This version is not peer-reviewed
Time Minimisation of Rescue Action realized by an Autonomous Vehicle
Version 1
: Received: 27 October 2020 / Approved: 27 October 2020 / Online: 27 October 2020 (20:44:30 CET)
A peer-reviewed article of this Preprint also exists.
Gosiewski, Z.; Kwaśniewski, K. Time Minimization of Rescue Action Realized by an Autonomous Vehicle. Electronics 2020, 9, 2099. Gosiewski, Z.; Kwaśniewski, K. Time Minimization of Rescue Action Realized by an Autonomous Vehicle. Electronics 2020, 9, 2099.
Abstract
In the rescue operations the full time of action plays important role. It is a sum of planning, travel, and manipulation (in the action place) phases times. The time minimization of first two phases by autonomous vehicle for remote action is considered in the paper. For known a priori map the path planning consists of local optimal decision collected next in the general algorithm of the optimal path. Such 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 allowable velocity profile. So, it can be used to estimate the travel performance. Genetic algorithm and random search-based methods for path finding with travel time optimization are exploited and compared in the paper. All the proposed time optimisation solutions of rescue operation are checked during computer simulations and results of simulation are presented.
Keywords
robotics; autonomy obstacle avoidance; path optimization; genetic algorithm; random search
Subject
Engineering, Automotive Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Comments (0)
We encourage comments and feedback from a broad range of readers. See criteria for comments and our Diversity statement.
Leave a public commentSend a private comment to the author(s)
* All users must log in before leaving a comment
