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Title: A consistent heuristic for efficient path planning on mobility maps
Authors: Yuan, WM 
Ganganath, N 
Cheng, CT 
Qing, G
Lau, CM 
Issue Date: 2017
Source: 2017 IEEE 18th International Symposium on a World of Wireless, Mobile and Multimedia Networks (WoWMoM), Macau, China, 12-15 June 2017, p. 1-5
Abstract: Efficient path planning has an utmost importance in the domain of autonomous navigation. Even though shortest path planning has been well discussed in the past, the same techniques might not always be used to find the fastest path in outdoor environments due to the inability of mobile agents to travel at their peak speed everywhere in irregular terrains. Mobility maps are an effective way for dealing with such irregularities. In this paper, we first introduce a grid-based mobility maps for representing speed limitations in outdoor terrains. Then, we propose a heuristic for finding the fastest path on such maps. The proposed heuristic is proven to be both admissible and consistent. Therefore, it can be used with A∗-like heuristic search algorithms for obtaining fastest paths efficiently. Simulation results provided in this paper verify the optimality of paths that are found with the help of the proposed heuristic.
Keywords: Heuristics
Fastest path
Mobility maps
Publisher: Institute of Electrical and Electronics Engineers
ISBN: 978-1-5386-2723-5 (electronic)
978-1-5386-2724-2 (print on demand(PoD))
DOI: 10.1109/WoWMoM.2017.7974356
Rights: © 2017 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 W. Yuan, N. Ganganath, C. T. Cheng, G. Qing and F. C. M. Lau, "A consistent heuristic for efficient path planning on mobility maps," 2017 IEEE 18th International Symposium on A World of Wireless, Mobile and Multimedia Networks (WoWMoM), Macau, 2017, pp. 1-5 is available at
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