Staying-alive and energy-efficient path planning for mobile robots

Tianmiao Wang, Bin Wang, Hongxing Wei, Yunan Cao, Meng Wang, Zili Shao

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

24 Citations (Scopus)

Abstract

As most mobile robots are powered by batteries, their energy and operation times are limited. Therefore, how to minimize energy consumption and keep mobile robots to stay alive becomes an important problem. In this paper, by applying a dynamic energy-evaluation scheme, in which we consider if a robot has enough energy to go to next location, finish the task and return to the docking station in the path planning, we propose two staying-alive and energy-efficient path planning approaches based on the greedy TSP and Tabu-search methods, respectively. The experimental results show that our Tabu-search-based approach is the best and can provide an effective path planning by which a robot can be guaranteed to stay alive and finish all tasks with the minimum energy.
Original languageEnglish
Title of host publication2008 American Control Conference, ACC
Pages868-873
Number of pages6
DOIs
Publication statusPublished - 30 Sep 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: 11 Jun 200813 Jun 2008

Conference

Conference2008 American Control Conference, ACC
CountryUnited States
CitySeattle, WA
Period11/06/0813/06/08

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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