A consistent heuristic for efficient path planning on mobility maps

Wanmai Yuan, Nuwan Ganganath, Chi Tsun Cheng, Guo Qing, Francis C.M. Lau

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

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.
Original languageEnglish
Title of host publication18th IEEE International Symposium on A World of Wireless, Mobile and Multimedia Networks, WoWMoM 2017 - Conference
PublisherIEEE
ISBN (Electronic)9781538627228
DOIs
Publication statusPublished - 10 Jul 2017
Event18th IEEE International Symposium on A World of Wireless, Mobile and Multimedia Networks, WoWMoM 2017 - Macao Polytechnic Institute Campus, Macau, China
Duration: 12 Jun 201715 Jun 2017

Conference

Conference18th IEEE International Symposium on A World of Wireless, Mobile and Multimedia Networks, WoWMoM 2017
Country/TerritoryChina
CityMacau
Period12/06/1715/06/17

Keywords

  • admissible
  • consistent
  • fastest path
  • Heuristics
  • mobility maps

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Media Technology

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