Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed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)

How to cite: Gosiewski, Z.; Kwaśniewski, K. Time Minimisation of Rescue Action realized by an Autonomous Vehicle. Preprints 2020, 2020100564 (doi: 10.20944/preprints202010.0564.v1). Gosiewski, Z.; Kwaśniewski, K. Time Minimisation of Rescue Action realized by an Autonomous Vehicle. Preprints 2020, 2020100564 (doi: 10.20944/preprints202010.0564.v1).

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.

Subject Areas

robotics; autonomy obstacle avoidance; path optimization; genetic algorithm; random search

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