On the Performance Analysis of Efficient Path-Planning Algorithms for Fire-Fighting Robots

Sreesruthi Ramasubramanian, Senthil Arumugam Muthukumaraswamy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationSoft Computing and its Engineering Applications
Subtitle of host publicationicSoftComp 2020
EditorsKanubhai K. Patel, Deepak Garg, Atul Patel, Pawan Lingras
PublisherSpringer
Pages3-14
Number of pages12
ISBN (Electronic)9789811607080
ISBN (Print)9789811607073
DOIs
Publication statusPublished - 5 Mar 2021
Event2nd International Conference on Soft Computing and its Engineering Applications 2020 - Virtual, Online
Duration: 11 Dec 202012 Dec 2020

Publication series

NameCommunications in Computer and Information Science
Volume1374
ISSN (Print)1865-0929
ISSN (Electronic)1865-0937

Conference

Conference2nd International Conference on Soft Computing and its Engineering Applications 2020
Abbreviated titleicSoftComp 2020
CityVirtual, Online
Period11/12/2012/12/20

Keywords

  • Fire-fighting robots
  • Path-planning
  • Sampling-based algorithms

ASJC Scopus subject areas

  • Computer Science(all)
  • Mathematics(all)

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