Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/53656
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dc.contributorDepartment of Electronic and Information Engineering-
dc.creatorGanganath, N-
dc.creatorCheng, CT-
dc.creatorTse, CK-
dc.date.accessioned2016-06-27T02:39:15Z-
dc.date.available2016-06-27T02:39:15Z-
dc.identifier.issn1935-4576-
dc.identifier.urihttp://hdl.handle.net/10397/53656-
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.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.en_US
dc.rightsThe following publication Ganganath, N., Cheng, C. -., & Tse, C. K. (2015). Rapid replanning of energy-efficient paths for navigation on uneven terrains. Paper presented at the Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015, 408-413 is available at 10.1109/INDIN.2015.7281769en_US
dc.subjectMobile roboten_US
dc.subjectPath planningen_US
dc.subjectReplanningen_US
dc.subjectEnergy-efficienten_US
dc.subjectUneven terrainen_US
dc.titleRapid replanning of energy-efficient paths for navigation on uneven terrainsen_US
dc.typeConference Paperen_US
dc.identifier.spage408-
dc.identifier.epage413-
dc.identifier.doi10.1109/INDIN.2015.7281769-
dcterms.abstractMobile robots are often utilized in remote and hostile outdoor environments with uncertainties and unknown dangerous. The energy-efficient paths generated based on prior information can be impracticable due to the changes in the environment. Recently proposed Z* search algorithm is capable of finding physically feasible energy-efficient paths on uneven terrains. It can achieve the same accuracy as any brute force algorithm, but with a low computational complexity. However, neither Z* nor any other energy-efficient path planners can effectively handle path replanning triggered by environment changes such as emergence of obstacles. In order to fill this void, we propose a novel algorithm which can recompute optimal paths efficiently. Simulation results show that the proposed algorithm can find equally energy-efficient paths as Z* does, but at a considerably lower computational cost. Therefore, the proposed algorithm can be very useful in mobile robot navigation on uneven terrains with unknown obstacles.-
dcterms.accessRightsopen accessen_US
dcterms.bibliographicCitation2015 IEEE 13th International Conference on Industrial Informatics (INDIN), Cambridge, United Kingdom, 22-24 July 2015, p. 408-413-
dcterms.issued2015-
dc.identifier.isiWOS:000380453900057-
dc.relation.conferenceIEEE International Conference on Industrial Informatics [INDIN]-
dc.identifier.rosgroupid2015001808-
dc.description.ros2015-2016 > Academic research: refereed > Refereed conference paper-
dc.description.oaAccepted Manuscripten_US
dc.identifier.FolderNumbera0020-n05en_US
dc.description.pubStatusPublisheden_US
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