Rapid replanning of energy-efficient paths for navigation 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

6 Citations (Scopus)


Mobile robots are often utilized in remote and hostile outdoor environments with uncertainties and unknown dangerous. The energy-efficient paths generated based on prior information can be impracticable due to the changes in the environment. Recently proposed Z∗ search algorithm is capable of finding physically feasible energy-efficient paths on uneven terrains. It can achieve the same accuracy as any brute force algorithm, but with a low computational complexity. However, neither Z∗ nor any other energy-efficient path planners can effectively handle path replanning triggered by environment changes such as emergence of obstacles. In order to fill this void, we propose a novel algorithm which can recompute optimal paths efficiently. Simulation results show that the proposed algorithm can find equally energy-efficient paths as Z∗ does, but at a considerably lower computational cost. Therefore, the proposed algorithm can be very useful in mobile robot navigation on uneven terrains with unknown obstacles.
Original languageEnglish
Title of host publicationProceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015
Number of pages6
ISBN (Electronic)9781479966493
Publication statusPublished - 28 Sep 2015
Event13th International Conference on Industrial Informatics, INDIN 2015 - Robinson College, Cambridge, United Kingdom
Duration: 22 Jul 201524 Jul 2015


Conference13th International Conference on Industrial Informatics, INDIN 2015
Country/TerritoryUnited Kingdom


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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Industrial and Manufacturing Engineering
  • Instrumentation
  • Computer Networks and Communications
  • Control and Systems Engineering

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