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Title: Finding energy-efficient paths on uneven terrains
Authors: Ganganath, N
Cheng, CT 
Tse, CK 
Issue Date: 2014
Source: 2014 10th France-Japan/8th Europe-Asia Congress on Mecatronics (MECATRONICS), Tokyo, Japan, 27-29 Nov. 2014, p. 383-388
Abstract: Mobile robots are increasingly getting popular in outdoor applications. Long period of continuous operations are common in such applications. Therefore, robot motions need to be optimized to minimize their energy consumption. Shortest paths do not always guarantee minimum energy consumptions of mobile robots. This paper proposes a novel algorithm to generate energy-efficient paths on uneven terrains using an established energycost model for mobile robots. Terrains are represented using grid based elevation maps. Similar to A* algorithm, the energy-cost of traversing through a particular gird depends on a heuristic energy-cost estimation from the current location to the goal. The proposed heuristic energy-cost function makes it possible to generate zigzag-like path patterns on steep hills under the power limitations of the robot. Therefore, the proposed method can find physically feasible energy-efficient paths on any given terrain, provided that such paths exist. Simulation results presented in this paper demonstrate the performance of the proposed algorithm on uneven terrains maps.
Keywords: Mobile robot
Heuristic search
Path planning
Uneven terrain
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MECATRONICS.2014.7018555
Rights: © 2014 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. (2014). Finding energy-efficient paths on uneven terrains. Paper presented at the 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS, 2014, 383-388 is available at 10.1109/MECATRONICS.2014.7018555
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