Determining safe and fast routes for first responders is an important issue in a disaster response. Especially when different types of disasters (e.g., toxic plumes, fires, and floods) occur and affect transportation networks simultaneously, special routing strategies (e.g., detour) would be needed to ensure the safety for responders. On the other hand, after disasters happen, a quick response time is required, and the responders should move as fast as possible and even go through certain obstacles to reach the disaster sites to deliver emergency services. In this paper, we study path planning through moving obstacles, taking into account the influence of obstacles on the status of road networks and the speed of rescue vehicles. A set of algorithms is proposed to deal with not only geometries but also the properties of moving obstacles to support route generation. Based on the Dijkstra algorithm, a new routing algorithm is designed and developed, which aims at minimizing the risk while constraining the travel time of routes. We validate our approach with a set of experiments on some navigation cases. The experimental results show the promise of the algorithm in the generation of feasible and safe routes for first responders to pass through moving obstacles.

中文翻译：

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存在移动障碍物时第一响应者的安全路线确定

为急救人员确定安全快捷的路线是灾难响应中的一个重要问题。特别是当不同类型的灾害（如毒气、火灾和洪水）同时发生并影响交通网络时，需要特殊的路线策略（如绕行）来确保响应者的安全。另一方面，灾难发生后，需要快速的响应时间，响应者应尽快行动，甚至要通过一定的障碍才能到达灾区提供紧急服务。在本文中，我们通过移动障碍物来研究路径规划，同时考虑到障碍物对路网状态和救援车辆速度的影响。提出了一组算法，不仅可以处理几何形状，还可以处理移动障碍物的属性，以支持路线生成。在Dijkstra算法的基础上，设计并开发了一种新的路由算法，其目的是在约束路径旅行时间的同时，将风险最小化。我们通过对一些导航案例的一组实验来验证我们的方法。实验结果表明，该算法有望为急救人员生成可行且安全的路线以穿过移动障碍物。