RT Conference Proceedings
T1 Velocity-Based Heuristic Evaluation for Path Planning and Vehicle Routing for Victim Assistance in Disaster Scenarios
A1 Toscano-Moreno, Manuel
A1 Mandow, Anthony
A1 Martínez-Sánchez, María Alcázar
A1 García-Blanco, Luis Fernando
K1 Heurística
K1 Robótica
AB Natural and human-made disasters require effective victimassistance and last-mile relief supply operations with teams of ground vehicles.In these applications, digital elevation models (DEM) can provideaccurate knowledge for safe vehicle motion planning but grid representationresults in very large search graphs. Furthermore, travel time, whichbecomes a crucial cost optimization criterion, may be affected by inclinationand other challenging terrain characteristics. In this paper, our goalis to evaluate a search heuristic function based on anisotropic vehicle velocityrestrictions for building the cost matrix required for multi-vehiclerouting on natural terrain and disaster sites. The heuristic is applied tocompute the fastest travel times between every pair of matrix elementsby means of a path planning algorithm. The analysis is based on a casestudy on the ortophotographic-based DEM of natural terrain with differenttarget points, where the
YR 2019
FD 2019-11-28
LK https://hdl.handle.net/10630/18933
UL https://hdl.handle.net/10630/18933
LA eng
NO Published in "Robot 2019: Fourth Iberian Robotics Conference. Advances in Intelligent Systems and Computing, Vol 1093. Silva M., Luís Lima J., Reis L., Sanfeliu A., Tardioli D. (eds)" published by Springer, Cham. Avalaible online at: https://doi.org/10.1007.987-3-030-36150-1_10
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.This work has received funding from the national project RTI2018-093421-B-I00(Spanish Government), the University of Malaga (Andalucía Tech) and the grantBES-2016-077022 of the European Social Fund.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026