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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 187370, 10 pages
Research Article

PSO-Based Robot Path Planning for Multisurvivor Rescue in Limited Survival Time

School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China

Received 5 June 2014; Revised 5 August 2014; Accepted 19 August 2014; Published 25 September 2014

Academic Editor: Fang Zong

Copyright © 2014 N. Geng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Since the strength of a trapped person often declines with time in urgent and dangerous circumstances, adopting a robot to rescue as many survivors as possible in limited time is of considerable significance. However, as one key issue in robot navigation, how to plan an optimal rescue path of a robot has not yet been fully solved. This paper studies robot path planning for multisurvivor rescue in limited survival time using a representative heuristic, particle swarm optimization (PSO). First, the robot path planning problem including multiple survivors is formulated as a discrete optimization one with high constraint, where the number of rescued persons is taken as the unique objective function, and the strength of a trapped person is used to constrain the feasibility of a path. Then, a new integer PSO algorithm is presented to solve the mathematical model, and several new operations, such as the update of a particle, the insertion and inversion operators, and the rapidly local search method, are incorporated into the proposed algorithm to improve its effectiveness. Finally, the simulation results demonstrate the capacity of our method in generating optimal paths with high quality.