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Title: Shortest path planning for energy-constrained mobile platforms navigating on uneven terrains
Authors: Ganganath, N
Cheng, CT 
Fernando, T
Iu, H.HC
Tse, CK 
Keywords: Constraints satisfying A* (CSA*)
Heuristic search
Multiple resource constraints
Outdoor navigation
Shortest paths
Issue Date: Sep-2018
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on industrial informatics, Sept. 2018, v. 14, no. 9, p. 4264-4272 How to cite?
Journal: IEEE transactions on industrial informatics 
Abstract: Finding a shortest feasible path between two given locations is a common problem in many real-world applications. Previous studies have shown that mobile platforms would consume excessive energy when moving along shortest paths on uneven terrains which often consist of rapid elevation changes. Mobile platforms powered by portable energy sources may fail to follow such paths due to the limited energy available. This paper proposes a new heuristic search algorithm called Constraints Satisfying A* (CSA*) to find solutions to such resource constrained shortest path problems. When CSA* is guided by admissible heuristics, it guarantees to find a globally optimal solution to a given constrained search problem if such a solution exists. When is guided by consistent heuristics, it is optimally efficient over a class of equally informed admissible constrained search algorithms with respect to the set of paths expanded. Test results obtained using real terrain data verify the applicability of the proposed algorithm in shortest path planning for energy-constrained mobile platforms on uneven terrains.
ISSN: 1551-3203
EISSN: 1941-0050
DOI: 10.1109/TII.2018.2844370
Rights: © 2018 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.
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The following publication Ganganath, N., Cheng, C. T., Fernando, T., Iu, H., & Chi, K. T. (2018). Shortest Path Planning for Energy-Constrained Mobile Platforms Navigating on Uneven Terrains. IEEE Transactions on Industrial Informatics, 14(9), 4264-4272 is available at
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