Abstract
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 language | English |
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Title of host publication | Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015 |
Publisher | IEEE |
Pages | 408-413 |
Number of pages | 6 |
ISBN (Electronic) | 9781479966493 |
DOIs | |
Publication status | Published - 28 Sept 2015 |
Event | 13th International Conference on Industrial Informatics, INDIN 2015 - Robinson College, Cambridge, United Kingdom Duration: 22 Jul 2015 → 24 Jul 2015 |
Conference
Conference | 13th International Conference on Industrial Informatics, INDIN 2015 |
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Country/Territory | United Kingdom |
City | Cambridge |
Period | 22/07/15 → 24/07/15 |
Keywords
- 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