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The obstacle avoidance path planning of rescue robot has been the key problem of autonomous navigation for rescue robot. Most of the existing path planning algorithms is aimed at the optimization of a particular target, often resulting in deadlock or oscillation in order to obtain the optimal solution or the optimal path. Therefore, using the multi-objective optimization theory, this paper presents a multi-objective optimization dynamic obstacle avoidance algorithm based on interval weights, the fusion process of obstacle avoidance process is divided into three seed action, by giving the behavior function of different weights, the output rate of real-time dynamic change of different action. This is not to obtain the optimal solution or the optimal path at the current moment, but to obtain only the most efficient solution or the most satisfactory path at the current moment. Experiments show that the algorithm can effectively improve the flexibility and security of the obstacle avoidance process under the premise of ensuring the real-time and robustness of the search and rescue robot obstacle avoidance process.

In recent years, the gas-oil ratio of LaSaxing Oilfield has been on the rise and the variation characteristics of gas-oil ratio of each plant are quite different. The high production of gas leads to the intensification of three-phase interference of oil, gas and water, and the poor fluidity of crude oil after degassing, which affects the overall development effect of the oilfield. Though the method of oil and gas water three phase numerical simulation, the conceptual model was established. Based on the model, analysing the change of producing gas-oil ratio by designing the scheme of numerical simulation under different factors points out the results——the formation pressure is the key factors influenced the producing gas-oil ratio change and the formation pressure level determines the trend of the producing gas-oil ratio. The results provide a technical support for oilfield production safety and the optimization of the ground production system, and achieve an important practical significance for oilfield sustainable development.