2026-06-06T19:30:22Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/189332026-02-03T12:03:45Zcom_10630_2254col_10630_37959

Velocity-Based Heuristic Evaluation for Path Planning and Vehicle Routing for Victim Assistance in Disaster Scenarios Toscano-Moreno, Manuel Mandow, Anthony Martínez-Sánchez, María Alcázar García-Blanco, Luis Fernando Heurística Robótica Natural and human-made disasters require effective victim assistance and last-mile relief supply operations with teams of ground vehicles. In these applications, digital elevation models (DEM) can provide accurate knowledge for safe vehicle motion planning but grid representation results in very large search graphs. Furthermore, travel time, which becomes a crucial cost optimization criterion, may be affected by inclination and other challenging terrain characteristics. In this paper, our goal is to evaluate a search heuristic function based on anisotropic vehicle velocity restrictions for building the cost matrix required for multi-vehicle routing on natural terrain and disaster sites. The heuristic is applied to compute the fastest travel times between every pair of matrix elements by means of a path planning algorithm. The analysis is based on a case study on the ortophotographic-based DEM of natural terrain with different target points, where the 2019-11-28T10:41:21Z 2019-11-28T10:41:21Z 2019-11-28T10:41:21Z 2019-11-28 conference output https://hdl.handle.net/10630/18933 eng Robot 2019: Fourth Iberian Robotics Conference Porto, Portugal 20-22 de noviembre de 2019 http://creativecommons.org/licenses/by-nc-nd/4.0/ open access Attribution-NonCommercial-NoDerivatives 4.0 Internacional