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This paper introduces a novel path planning method for fire-fighting robots in complex dynamic environments by converting a 2D dynamic problem into a 3D static one, using time as the third dimension. The enhanced RRT* (Rapidly-exploring Random Trees*) algorithm incorporates space-time transformation and kinodynamic constraints, improving obstacle avoidance and path optimization. Key innovations include time-space conversion for dynamic obstacles, priority-based sampling, and post-processing optimization. Simulations show over 90% success rates with 25 moving obstacles, outperforming traditional 2D methods. This approach is particularly effective for fire emergency response, where efficient navigation is crucial for rescue operations.

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Space-Time Kinodynamic Approach for Firefighting Robot Navigation in Dynamic Environments

  • 会议论文

  • 发表日期：

    2026年

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  • An Hai Nguyen,
  • Pham Thuc Anh Nguyen,
  • Dang Tuan Nguyen

摘要

This paper introduces a novel path planning method for fire-fighting robots in complex dynamic environments by converting a 2D dynamic problem into a 3D static one, using time as the third dimension. The enhanced RRT* (Rapidly-exploring Random Trees*) algorithm incorporates space-time transformation and kinodynamic constraints, improving obstacle avoidance and path optimization. Key innovations include time-space conversion for dynamic obstacles, priority-based sampling, and post-processing optimization. Simulations show over 90% success rates with 25 moving obstacles, outperforming traditional 2D methods. This approach is particularly effective for fire emergency response, where efficient navigation is crucial for rescue operations.