An Improved Iterated Greedy Algorithm for Solving Rescue Robot Path Planning Problem with Limited Survival Time  

作　　者：Xiaoqing Wang Peng Duan Leilei Meng Kaidong Yang 

机构地区：[1]School of Computer Science,Liaocheng University,Liaocheng,252000,China [2]Shandong Key Laboratory of Optical Communication Science and Technology,School of Physics Science and Information Technology,Liaocheng University,Liaocheng,252059,China

出　　处：《Computers, Materials & Continua》2024年第7期931-947,共17页计算机、材料和连续体（英文）

基　　金：supported by the Opening Fund of Shandong Provincial Key Laboratory of Network based Intelligent Computing,the National Natural Science Foundation of China(52205529,61803192);the Natural Science Foundation of Shandong Province(ZR2021QE195);the Youth Innovation Team Program of Shandong Higher Education Institution(2023KJ206);the Guangyue Youth Scholar Innovation Talent Program support received from Liaocheng University(LCUGYTD2022-03).

摘　　要：Effective path planning is crucial for mobile robots to quickly reach rescue destination and complete rescue tasks in a post-disaster scenario.In this study,we investigated the post-disaster rescue path planning problem and modeled this problem as a variant of the travel salesman problem(TSP)with life-strength constraints.To address this problem,we proposed an improved iterated greedy(IIG)algorithm.First,a push-forward insertion heuristic(PFIH)strategy was employed to generate a high-quality initial solution.Second,a greedy-based insertion strategy was designed and used in the destruction-construction stage to increase the algorithm’s exploration ability.Furthermore,three problem-specific swap operators were developed to improve the algorithm’s exploitation ability.Additionally,an improved simulated annealing(SA)strategy was used as an acceptance criterion to effectively prevent the algorithm from falling into local optima.To verify the effectiveness of the proposed algorithm,the Solomon dataset was extended to generate 27 instances for simulation.Finally,the proposed IIG was compared with five state-of-the-art algorithms.The parameter analysiswas conducted using the design of experiments(DOE)Taguchi method,and the effectiveness analysis of each component has been verified one by one.Simulation results indicate that IIGoutperforms the compared algorithms in terms of the number of rescue survivors and convergence speed,proving the effectiveness of the proposed algorithm.

关 键 词：Rescue robot path planning life strength improved iterative greedy algorithm problem-specific swap operators 

分 类 号：O17[理学—数学]