Title :
HRWP: A hierarchical randomwalk path planner for post-disaster Mobile Ad-hoc Rescue Network
Author :
Xinyu Yang ; Chaoxin Hu ; Manli Fan ; Benyuan Liu
Author_Institution :
Sch. of Electron. & Inf. Eng., Xi´an Jiaotong Univ., Xi´an, China
Abstract :
Path planning is a critical task for search and rescue mission in Mobile Ad-hoc Rescue Network in natural or unnatural catastrophes. However, most existing path planning schemes fail to cope with the challenges in post-disaster map environment due to its increased complexity and uncertainty. To address these issues, we propose a Hierarchical Random Walk based path Planner (HRWP). In HRWP, Regular Grid and Voronoi Diagram are used to model the map, and uncertain map segments are assigned uncertain cost using random variables. The hierarchical random walk is then designed to generate the optimal path using probabilistic accept-reject. In this way, results of HRWP can significantly reduce the risk of uncertainty and converge to the optimal path. Using a combination of analytical modeling and extensive simulations we show that HRWP outperforms existing path planer and mobility schemes, and performs well in complicated environments.
Keywords :
computational geometry; disasters; mobile ad hoc networks; path planning; HRWP; Voronoi diagram; hierarchical random walk path planner; post disaster map environment; post disaster mobile ad-hoc rescue network; random variables; regular grid; search and rescue mission; uncertain map segmentation; Convergence; Mobile communication; Path planning; Planning; Probabilistic logic; Relays; Uncertainty; Mobility model; Path planner; Random walk; Rescue Network; Unreliable map;
Conference_Titel :
Wireless Communications and Networking Conference (WCNC), 2013 IEEE
Conference_Location :
Shanghai
Print_ISBN :
978-1-4673-5938-2
Electronic_ISBN :
1525-3511
DOI :
10.1109/WCNC.2013.6554703