Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/78117
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dc.contributorDepartment of Electronic and Information Engineering-
dc.creatorGanganath, N-
dc.creatorCheng, CT-
dc.creatorFernando, T-
dc.creatorIu, H.HC-
dc.creatorTse, CK-
dc.date.accessioned2018-09-18T06:31:55Z-
dc.date.available2018-09-18T06:31:55Z-
dc.identifier.issn1551-3203en_US
dc.identifier.urihttp://hdl.handle.net/10397/78117-
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.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.en_US
dc.rightsPersonal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.en_US
dc.rightsThe 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 https://dx.doi.org/10.1109/TII.2018.284437en_US
dc.subjectConstraints satisfying A* (CSA*)en_US
dc.subjectHeuristic searchen_US
dc.subjectMultiple resource constraintsen_US
dc.subjectOutdoor navigationen_US
dc.subjectShortest pathsen_US
dc.titleShortest path planning for energy-constrained mobile platforms navigating on uneven terrainsen_US
dc.typeJournal/Magazine Articleen_US
dc.identifier.spage4264en_US
dc.identifier.epage4272en_US
dc.identifier.volume14en_US
dc.identifier.issue9en_US
dc.identifier.doi10.1109/TII.2018.2844370en_US
dcterms.abstractFinding 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.-
dcterms.accessRightsopen accessen_US
dcterms.bibliographicCitationIEEE transactions on industrial informatics, Sept. 2018, v. 14, no. 9, p. 4264-4272-
dcterms.isPartOfIEEE transactions on industrial informatics-
dcterms.issued2018-09-
dc.identifier.scopus2-s2.0-85048200988-
dc.source.typeipen
dc.identifier.eissn1941-0050en_US
dc.contributor.orcid#NODATA#en
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dc.contributor.orcid#NODATA#en
dc.contributor.orcid#NODATA#en
dc.contributor.orcid#NODATA#en
dc.description.validate201809 bcrcen_US
dc.description.oaAccepted Manuscripten_US
dc.identifier.FolderNumbera0258-n01en_US
dc.description.pubStatusPublisheden_US
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