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

Nuwan Ganganath; Chi Tsun Cheng; Chi Kong Tse

doi:10.1109/CyberC.2015.52

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

Nuwan Ganganath
, Chi Tsun Cheng
, Chi Kong Tse

The Hong Kong Polytechnic University

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-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 language	English
Title of host publication	Proceedings - 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015
Publisher	IEEE
Pages	395-398
Number of pages	4
ISBN (Electronic)	9781467391993
DOIs	https://doi.org/10.1109/CyberC.2015.52
Publication status	Published - 26 Oct 2015
Event	7th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015 - Xi'an, China Duration: 17 Sept 2015 → 19 Sept 2015

Conference

Conference	7th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015
Country/Territory	China
City	Xi'an
Period	17/09/15 → 19/09/15

Keywords

energy-efficient
Mobile robot
path planning
replanning
Uneven terrain

ASJC Scopus subject areas

Computational Theory and Mathematics
Computer Networks and Communications
Artificial Intelligence

More information

10.1109/CyberC.2015.52

http://hdl.handle.net/10397/53648

Cite this

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title = "An Improved Dynamic Z∗ Algorithm for Rapid Replanning of Energy-Efficient Paths",

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.",

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author = "Nuwan Ganganath and Cheng, \{Chi Tsun\} and Tse, \{Chi Kong\}",

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language = "English",

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booktitle = "Proceedings - 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015",

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Ganganath, N, Cheng, CT & Tse, CK 2015, An Improved Dynamic Z∗ Algorithm for Rapid Replanning of Energy-Efficient Paths. in Proceedings - 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015., 7307848, IEEE, pp. 395-398, 7th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015, Xi'an, China, 17/09/15. https://doi.org/10.1109/CyberC.2015.52

An Improved Dynamic Z∗ Algorithm for Rapid Replanning of Energy-Efficient Paths. / Ganganath, Nuwan; Cheng, Chi Tsun; Tse, Chi Kong.
Proceedings - 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015. IEEE, 2015. p. 395-398 7307848.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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