An Improved Dynamic Z∗ Algorithm for Rapid Replanning of Energy-Efficient Paths

Nuwan Ganganath, Chi Tsun Cheng, Chi Kong Tse

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

5 Citations (Scopus)

Abstract

Recently proposed Dynamic Z∗ heuristic search algorithm enables mobile robots navigating on uneven terrains to replan energy-efficient paths using previous search results whenever an obstacle is encountered. This paper proposes some vital improvements to Dynamic Z∗ by optimizing the use of previous search results in replanning. Simulation results show that the proposed improvements can significantly reduce the computational cost of replanning in Dynamic Z∗ while producing equally energy-efficient paths.
Original languageEnglish
Title of host publicationProceedings - 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015
PublisherIEEE
Pages395-398
Number of pages4
ISBN (Electronic)9781467391993
DOIs
Publication statusPublished - 26 Oct 2015
Event7th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015 - Xi'an, China
Duration: 17 Sep 201519 Sep 2015

Conference

Conference7th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015
CountryChina
CityXi'an
Period17/09/1519/09/15

Keywords

  • energy-efficient
  • Mobile robot
  • path planning
  • replanning
  • Uneven terrain

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Networks and Communications
  • Artificial Intelligence

Cite this