An Improved Path Planning REB Mechanism for Rescue Robot in Unmanned Area

M. Karthiga; S. Justin Samuel

Abstract: Humans in disaster areas facing harmful issues by the failure of rescue guards. Often rescue robot themselves face problems to track the exact position for humans in their environment. To overcome these problems an improved path planning mechanism is introduced to detect the struggling human in unmanned areas like disasters, war field, rival nations, etc. A new method of Rapidly Exploring Blocks (REB) is implemented in this work to alternate the robot path from harm position. REB helps rescue robots to move in disasters space and guides to find the all humans.REB mechanism also allows rescue robot to move in collision free path. REB rapidly explores every cell instead of random pick. This method of continues cell exploring efficiently finds all the traceries in high dimensional area. Preplanning and replanning initiates rescue robot to check the feasibility of path in the desired area. The improved path planning with REB mechanism is implemented first in simulations and after in physical rescue robots. Robot with REB mechanisms always step forward to its target even in dynamic and challenging domains. The path generated by REB also more efficient compared to previous paths obtained by normal path planning algorithms. The REB simulation is implemented in JVM Java Virtual Machine.

Keywords: Rescue robot, rival, REB, collision free JVM