Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/53648
Title: An improved Dynamic Z* algorithm for rapid replanning of energy-efficient paths
Authors: Ganganath, N
Cheng, CT 
Tse, CK 
Keywords: Mobile robot
Path planning
Replanning
Energy-efficient
Uneven terrain
Issue Date: 2015
Publisher: Institute of Electrical and Electronics Engineers
Source: 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC), Xi'an, China, 17-19 Sept. 2015, p. 395-398 How to cite?
Abstract: Recently proposed Dynamic Z* heuristic search algorithm enables mobile robots navigating on uneven terrains to replan energy-efficient paths using previous search results whenever an obstacle is encountered. This paper proposes some vital improvements to Dynamic Z* by optimizing the use of previous search results in replanning. Simulation results show that the proposed improvements can significantly reduce the computational cost of replanning in Dynamic Z* while producing equally energy-efficient paths.
URI: http://hdl.handle.net/10397/53648
ISBN: 978-1-4673-9199-3
DOI: 10.1109/CyberC.2015.52
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). An improved dynamic Z∗ algorithm for rapid replanning of energy-efficient paths. Paper presented at the Proceedings - 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015, 395-398 is available at 10.1109/CyberC.2015.52
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