Velocity-Based Heuristic Evaluation for Path Planning and Vehicle Routing for Victim Assistance in Disaster Scenarios

  • Manuel Toscano-MorenoEmail author
  • Anthony Mandow
  • María Alcázar Martínez
  • Alfonso García-Cerezo
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1093)


Natural and human-made disasters require effective victim assistance and last-mile relief supply operations with teams of ground vehicles. In these applications, digital elevation models (DEM) can provide accurate knowledge for safe vehicle motion planning but grid representation results in very large search graphs. Furthermore, travel time, which becomes a crucial cost optimization criterion, may be affected by inclination and other challenging terrain characteristics. In this paper, our goal is to evaluate a search heuristic function based on anisotropic vehicle velocity restrictions for building the cost matrix required for multi-vehicle routing on natural terrain and disaster sites. The heuristic is applied to compute the fastest travel times between every pair of matrix elements by means of a path planning algorithm. The analysis is based on a case study on the ortophotographic DEM of natural terrain with different target points, where the proposed heuristic is compared against an exhaustive search solution.


Multi-robot team Heuristics Search and rescue Path planning Vehicle routing problem 



This work has received funding from the national project RTI2018-093421-B-I00 (Spanish Government), Universidad de Málaga (Andalucía Tech) and the grant BES-2016-077022 of the European Social Fund.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Manuel Toscano-Moreno
    • 1
    Email author
  • Anthony Mandow
    • 1
  • María Alcázar Martínez
    • 1
  • Alfonso García-Cerezo
    • 1
  1. 1.Systems Engineering and Automation DepartmentUniversidad de MálagaMálagaSpain

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