基于节点安全预测的火场撤离路径规划

An evacuation path planning based on dynamic triangular network model

火场烟雾弥漫、能见度低,消防队员很难准确定位并找寻到合适的撤离路径。文中使用人机协作在火场中建立动态三角网基础上,以网络节点为参考点为消防员规划撤离路线。该方案使用基于相似函数的证据理论对火场中各节点采集的烟雾浓度、温度、氧气浓度进行数据融合,并确定节点位置的安全等级;引入预测机制,可以预测短时间内前进路径中节点位置的安全等级的变化。根据安全等级变化,剔除网络中危险节点,使用基于路程换算的A*算法计算实时最短的安全路径。通过数据分析表明,该方案能更好的适应火场环境多变的特点。

It＇s difficult for the firefighters to position accurately when find the right evacuation path cause the smoke,low visibility.Dynamic triangulation network is generated by Robot and firefighter and used to help compute evacuation routed.Evidence theory based on similarity function is used to determine the node security levels after fusing the firedata such as smoke concentration,temperature,oxygen concentration.Prediction mechanism is introduced in order to predict the changes of the security level of node position in the forward path in a short period of time,then risk nodes in network are processed dynamically A＊ algorithm based on distance conversion is used periodically to calculation the shortest and safest path in real time.By computing and data analyzing,It can adapt to the characteristics of the fire environment changes more flexible.