TY - GEN
T1 - On the Performance Analysis of Efficient Path-Planning Algorithms for Fire-Fighting Robots
AU - Ramasubramanian, Sreesruthi
AU - Muthukumaraswamy, Senthil Arumugam
N1 - Publisher Copyright:
© 2021, Springer Nature Singapore Pte Ltd.
PY - 2021/3/5
Y1 - 2021/3/5
N2 - Fire-fighting robots with the ability to detect and extinguish fires are extremely useful in saving lives and property. However, most of these fire-fighting robots have been designed to operate semi-autonomously. Using path-planning algorithms to guide the robot to move from the present position to the target position would greatly improve the performance of the robot in the fire extinguishing process. Two types of sampling-based path-planning algorithms, namely, Rapidly Exploring Random Tree (RRT) and Rapidly Exploring Random Tree Star (RRT*) are investigated in this paper. The performances of these algorithms are analyzed and compared based on the computational time taken to generate paths and the length of the paths generated in order to select an effective path-planning algorithm. After investigation, RRT* is chosen for path-planning in both static and dynamic obstacle environments.
AB - Fire-fighting robots with the ability to detect and extinguish fires are extremely useful in saving lives and property. However, most of these fire-fighting robots have been designed to operate semi-autonomously. Using path-planning algorithms to guide the robot to move from the present position to the target position would greatly improve the performance of the robot in the fire extinguishing process. Two types of sampling-based path-planning algorithms, namely, Rapidly Exploring Random Tree (RRT) and Rapidly Exploring Random Tree Star (RRT*) are investigated in this paper. The performances of these algorithms are analyzed and compared based on the computational time taken to generate paths and the length of the paths generated in order to select an effective path-planning algorithm. After investigation, RRT* is chosen for path-planning in both static and dynamic obstacle environments.
KW - Fire-fighting robots
KW - Path-planning
KW - Sampling-based algorithms
UR - http://www.scopus.com/inward/record.url?scp=85103469637&partnerID=8YFLogxK
U2 - 10.1007/978-981-16-0708-0_1
DO - 10.1007/978-981-16-0708-0_1
M3 - Conference contribution
AN - SCOPUS:85103469637
SN - 9789811607073
T3 - Communications in Computer and Information Science
SP - 3
EP - 14
BT - Soft Computing and its Engineering Applications
A2 - Patel, Kanubhai K.
A2 - Garg, Deepak
A2 - Patel, Atul
A2 - Lingras, Pawan
PB - Springer
T2 - 2nd International Conference on Soft Computing and its Engineering Applications 2020
Y2 - 11 December 2020 through 12 December 2020
ER -