Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/31415
Title: A constraint-aware heuristic path planner for finding energy-efficient paths on uneven terrains
Authors: Ganganath, N
Cheng, CT 
Tse, CK 
Keywords: Energy efficient
Heuristic search
Mobile robot
Outdoor
Path planning
Uneven terrains
Issue Date: Jun-2015
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on industrial informatics, June 2015, v. 11, no. 3, p. 601-611 How to cite?
Journal: IEEE transactions on industrial informatics 
Abstract: Motions of mobile robots need to be optimized to minimize their energy consumption to ensure long periods of continuous operations. Shortest paths do not always guarantee the minimum energy consumption of mobile robots. Moreover, they are not always feasible due to climbing constraints of mobile robots, especially on steep terrains. We utilize a heuristic search algorithm to find energy-optimal paths on hilly terrains using an established energy-cost model for mobile robots. The terrains are represented using grid-based elevation maps. Similar to A?-like heuristic search algorithms, the energy-cost of traversing through a given location of the map depends on a heuristic energy-cost estimation from that particular location to the goal. Using zigzag-like path patterns, the proposed heuristic function can estimate heuristic energy-costs on steep terrains that cannot be estimated using traditional methods.We proved that the proposed heuristic energy-cost function is both admissible and consistent. Therefore, the proposed path planner can always find feasible energy-optimal paths on any given terrain without node revisits, provided that such paths exist. Results of tests on real-world terrain models presented in this paper demonstrate the promising computational performance of the proposed path planner in finding energy-efficient paths.
URI: http://hdl.handle.net/10397/31415
ISSN: 1551-3203
EISSN: 1941-0050
DOI: 10.1109/TII.2015.2413355
Rights: © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
The following publication Ganganath, N., Cheng, C. -., & Tse, C. K. (2015). A constraint-aware heuristic path planner for finding energy-efficient paths on uneven terrains. IEEE Transactions on Industrial Informatics, 11(3), 601-611 is available at http://dx.doi.org/10.1109/TII.2015.2413355
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