Abstract
Existing path planning algorithms are capable of finding physically feasible, shortest, and energy-efficient paths for mobile robots navigating on uneven terrains. However, shortest paths on uneven terrains are often energy inefficient while energy-optimal paths usually take long time to be traversed. Therefore, due to time and energy constraints imposed on mobile robots, these shortest and energy-optimal paths might not be applicable. We propose a multiobjective path planner that can find pareto-optimal solutions in terms of path length and energy consumption. It is based on NAMOA - search algorithm that utilizes a proposed monotone heuristic cost function. The simulation results show that nondominated path options found by the proposed path planner can be very useful in many real-world applications.
| Original language | English |
|---|---|
| Title of host publication | ISCAS 2016 - IEEE International Symposium on Circuits and Systems |
| Publisher | IEEE |
| Pages | 1846-1849 |
| Number of pages | 4 |
| Volume | 2016-July |
| ISBN (Electronic) | 9781479953400 |
| DOIs | |
| Publication status | Published - 29 Jul 2016 |
| Event | 2016 IEEE International Symposium on Circuits and Systems, ISCAS 2016 - Montreal's Sheraton Centre, Montreal, Canada Duration: 22 May 2016 → 25 May 2016 |
Conference
| Conference | 2016 IEEE International Symposium on Circuits and Systems, ISCAS 2016 |
|---|---|
| Country/Territory | Canada |
| City | Montreal |
| Period | 22/05/16 → 25/05/16 |
Keywords
- heuristic search
- Multiobjective
- pareto-optimal
- path planning
- uneven terrains
ASJC Scopus subject areas
- Electrical and Electronic Engineering
