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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 |
Issue Date: | 2015 | Source: | 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC), Xi'an, China, 17-19 Sept. 2015, p. 395-398 | 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. | Keywords: | Mobile robot Path planning Replanning Energy-efficient Uneven terrain |
Publisher: | Institute of Electrical and Electronics Engineers | 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 |
Appears in Collections: | Conference Paper |
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Ganganath_Improved_Dynamic_Z.pdf | Pre-published version | 1.57 MB | Adobe PDF | View/Open |
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