Abstract
Path planning is very important for the problem of robot rescue, establishing an appropriate model is helpful to obtain efficient solutions for the problem above. In this paper, Petri net model for the problem of robot rescue path planning is discussed, and the solutions of the above-mentioned problem are gained through optimizing the model. Firstly, taking the trapped man’s life-strength into consideration, the Petri net model with time constraint is established; then, by employing Particle Swarm Optimization (PSO) algorithm, the best transition fired sequence is obtained by combining the problem’s domain knowledge, designing the particle’s fitness function, and giving the update strategy of particle’s local and global best as well. Simulation results show that the established model is reasonable, and the proposed method is effective.
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Geng, N., Gong, Dw., Zhang, Y. (2017). Petri Net Model and Its Optimization for the Problem of Robot Rescue Path Planning. In: Huang, DS., Bevilacqua, V., Premaratne, P., Gupta, P. (eds) Intelligent Computing Theories and Application. ICIC 2017. Lecture Notes in Computer Science(), vol 10361. Springer, Cham. https://doi.org/10.1007/978-3-319-63309-1_49
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