Path Planning Of Search And Rescue Robot Based On Improved Genetic Algorithm

The search and rescue robot instead of manual method, entering into the chemical disasters to collecte information of surrounding environment, can establish reasonable emergency rescue plan and provide important technical support for rescue and relief work. Hence,that has become a new research hotspot in safety production fieldsAccording to characteristics of chemical hazards, a chemical disaster search and rescue robot was designed. It integrats a GPS module to realize real-time positioning, a GPRS module for the wireless communication between search and rescue robot and monitoring system which can overcome the distance limit like most wireless communication module and transfer the real-time location information of search and rescue robot to the monitoring system, and a external ultrasonic array for the emergency obstacle avoidance of search and rescue robot. The monitoring system is developed under MFC architecture, whose main functions are as follows:Fristly, receiving location data from the robot. Secondly, decoding the received data, and extracting latitude and longitude coordinates. Thirdly, transforming the coordinates of latitude and longitude into Baidu coordinates. Finally, achieving path visualization by using Baidu API. This paper also studied deeply the rescue robot path planning. It introduced a variety of maps environment modeling method and path searching algorithm, and analyzed the advantages and disadvantages of these algorithms. Then, this paper finally selected the grids method for modeling the map environment, and further improve the genetic algorithm to solve the defects of path planning. The fixed length decimal encoding method multiplies the chromosome redundant information, which leads to the low computation efficiency of crossover operator, consumes more time resources for path planning, and makes the algorithm easy to puberty. In view of the above problems, this paper proposes a similar genetic algorithm. The parent chromosome similarity should be judged before the genetic calculation of parent chromosomes. Then, according to the size of the similarity, the mode of Chromosome genetic evolution can be determined. Adding path safety factor in adaptation function, makes the algorithm in the process of the optimal path searching can effectively avoid the high-concentration areas of harmful gas. The experimental results show that the similar genetic algorithm can search the safe path in the chemical disaster environment, and reduce the time resource of the path searching.