Annealing-based guidance of a rescue robot for rescue mission with multi-goal navigation

Mission of a rescue robot is to search for some certain points and find trapped people or valuables to be rescued in an unknown terrain. A rescue robot should be able to be navigated to multiple goals. In this paper, a multi-goal navigation and mapping solution is found by simulated annealing (SA) based multi-goal navigation integrated a local navigator. The robot is guided by SA-based multi-goal route planner to search for multiple goals. Among goals, the robot is navigated by point-topoint global path planner and sensor-based local navigator while a local map is constructed gradually by exploring the unknown terrain. The simulation studies demonstrate the proposed integrated methodology is efficient, effective, and robust.