Finding energy-efficient paths on uneven terrains

Nuwan Ganganath, Chi Tsun Cheng, Chi Kong Tse

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


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.
Original languageEnglish
Title of host publication10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014
Number of pages6
ISBN (Electronic)9781479957170
Publication statusPublished - 22 Jan 2014
Event10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 - Tokyo Metropolitan University, Tokyo, Japan
Duration: 27 Nov 201429 Nov 2014


Conference10th France-Japan/8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014


  • energy-efficient
  • heuristic search
  • Mobile robot
  • path planning
  • uneven terrain

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering


Dive into the research topics of 'Finding energy-efficient paths on uneven terrains'. Together they form a unique fingerprint.

Cite this