Optimal Path Planning for a Remote Sensing Unmanned Ground Vehicle in a Hazardous Indoor Environment

摘要

Urban search and rescue robots are playing an increasingly important role during disasters and with their ability to search within hazardous and dangerous environments to assist the first respond teams. Surveying and remote sensing the hazardous areas are two of the urgent needs of the rescue team to identify the risks before the intervention of the emergency teams. With such time-critical missions, the path planning and autonomous navigation of the robot is one of the primary concerns due to the need of fast and feasible path that is comprehensive enough to assess the associated risks. This paper presents a path planning method for navigating an unmanned ground vehicle within in an indoor hazardous area with minimum priori information. The algorithm can be generalized to any given map and is based on probabilistic roadmap path planning method with spiral dynamics optimization algorithm to obtain the optimal navigating path. Simulations of the algorithm are presented in this paper, and the results promising results are illustrated using Matlab and Simulink simulation environments.