Path Planning for First Responders in the Presence of Moving Obstacles With Uncertain Boundaries

Path Planning for First Responders in the Presence of Moving Obstacles With Uncertain Boundaries

Wang, Z. (TU Delft Interactive Intelligence)
Zlatanova, S. (TU Delft Urban Data Science)
van Oosterom, P.J.M. (TU Delft OLD Department of GIS Technology)

2017

In this paper, we study path planning for first responders in the presence of uncertain moving obstacles. To support the path planning, in our research we use hazard simulation to provide the predicted information of moving obstacles. A major problem in using hazard simulation is that the simulation results may involve uncertainty due to model errors or noise in the real measurements. To address this problem, we provide an approach to handle the uncertainty in the information of moving obstacles, and apply it to the case of toxic plumes. Our contribution consists of two parts: 1) a spatial data model that supports the representation of uncertain obstacles from hazard simulations and their influence on the road network and 2) a modified A* algorithm that can deal with the uncertainty and generate fast and safe routes passing though the obstacles. The experimental results show the routing capability of our approach and its potential for the application to real disasters.

data model
route planning
algorithm
uncertain moving obstacles

http://resolver.tudelft.nl/uuid:93684f02-85e3-4773-bd72-5c07987967c2

https://doi.org/10.1109/TITS.2016.2634079

1524-9050

IEEE Transactions on Intelligent Transportation Systems, 18 (8), 2163-2173

Accepted Author Manuscript

Institutional Repository

journal article

© 2017 Z. Wang, S. Zlatanova, P.J.M. van Oosterom