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Multi-agent based path planning for first responders among moving obstacles

机译：移动障碍物中急救人员的基于多主体的路径规划

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Natural or man-made disasters can cause different kinds of moving obstacles (e.g., fires, plumes, floods), which make some parts of the road network temporarily unavailable. After such incidents occur, responders have to go to different destinations to perform their tasks in the environment affected by the disaster. Therefore they need a path planner that is capable of dealing with such moving obstacles, as well as generating and coordinating their routes quickly and efficiently. In this paper, we present a novel approach for using a multi-agent system for navigating one or multiple responders to one or multiple destinations in the presence of moving obstacles. Our navigation system supports information collection from hazard simulations, spatio-temporal data processing and analysis, connection with a geo-database, and route generation in dynamic environments affected by disasters. We design and develop a set of software geospatial agents that assist emergency actors in dealing with the spatio-temporal data required for emergency navigation, based on their roles in the disaster response. One of the key components of the system is the path planning module, which combines the modified A* algorithm, insertion heuristics, and auction algorithm to calculate obstacle-avoiding routes for multiple responders with multiple destinations. A spatial data model is designed to support the storage of information about the tasks and routes produced during the disaster response. Our system has been validated using four navigation cases. Some preliminary results are presented in this paper and show the potential of the system for solving more navigation cases. (c) 2015 Elsevier Ltd. All rights reserved.
机译：天灾或人为灾难可能会导致各种移动障碍（例如火灾，烟羽，洪水），这使道路网络的某些部分暂时无法使用。发生此类事件后，响应者必须前往不同的目的地，以在受灾难影响的环境中执行任务。因此，他们需要一种路径规划器，该路径规划器能够处理此类移动障碍，并能够快速有效地生成和协调其路线。在本文中，我们提出了一种使用多主体系统的新颖方法，该系统用于在存在移动障碍物的情况下将一个或多个响应者导航到一个或多个目的地。我们的导航系统支持从灾害模拟，时空数据处理和分析，与地理数据库的连接以及在受灾难影响的动态环境中生成路线等方面的信息收集。我们设计和开发了一套软件地理空间代理，可根据紧急事件参与者在灾难响应中的作用，协助紧急事件参与者处理紧急导航所需的时空数据。系统的关键组件之一是路径规划模块，该模块结合了改进的A *算法，插入试探法和拍卖算法，可以为具有多个目的地的多个响应者计算避障路线。空间数据模型旨在支持存储有关灾难响应过程中产生的任务和路线的信息。我们的系统已经使用四个导航案例进行了验证。本文提出了一些初步结果，并显示了该系统解决更多导航情况的潜力。 （c）2015 Elsevier Ltd.保留所有权利。

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