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Title: Rapid replanning of energy-efficient paths for navigation on uneven terrains
Authors: Ganganath, N
Cheng, CT 
Tse, CK 
Issue Date: 2015
Source: 2015 IEEE 13th International Conference on Industrial Informatics (INDIN), Cambridge, United Kingdom, 22-24 July 2015, p. 408-413
Abstract: Mobile 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.
Keywords: Mobile robot
Path planning
Uneven terrain
Publisher: Institute of Electrical and Electronics Engineers
ISSN: 1935-4576
DOI: 10.1109/INDIN.2015.7281769
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.
The 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.2015.7281769
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