Staying-alive path planning with energy optimization for mobile robots

Hongxing Wei, Bin Wang, Yi Wang, Zili Shao, Chun Chung Chan

Research output: Journal article publicationJournal articleAcademic researchpeer-review

32 Citations (Scopus)


Most mobile robots are powered by batteries, and their energy and operation time are limited. Therefore, how to minimize energy consumption and keep mobile robots to stay alive becomes an important problem. In this paper, we propose a staying-alive and energy-efficient path planning algorithm, SLEEP (Staying-aLive and Energy-Efficient Path planning), to solve this problem based on the Tabu-search method. In SLEEP, we consider both energy consumption and staying-alive for the path planning of rechargeable mobile robots. We design and implement our approach based on a real mobile robot platform, and conduct experiments in a real-life environment. The experimental results show that SLEEP 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
Pages (from-to)3559-3571
Number of pages13
JournalExpert Systems with Applications
Issue number3
Publication statusPublished - 15 Feb 2012


  • Energy optimization
  • Mobile robots
  • Path planning
  • Staying alive

ASJC Scopus subject areas

  • Engineering(all)
  • Computer Science Applications
  • Artificial Intelligence


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