@inproceedings{4651d54f5f894fb98be8be82abf071b9,
title = "An Improved Dynamic Z∗ Algorithm for Rapid Replanning of Energy-Efficient Paths",
abstract = "Recently proposed Dynamic Z∗ heuristic search algorithm enables mobile robots navigating on uneven terrains to replan energy-efficient paths using previous search results whenever an obstacle is encountered. This paper proposes some vital improvements to Dynamic Z∗ by optimizing the use of previous search results in replanning. Simulation results show that the proposed improvements can significantly reduce the computational cost of replanning in Dynamic Z∗ while producing equally energy-efficient paths.",
keywords = "energy-efficient, Mobile robot, path planning, replanning, Uneven terrain",
author = "Nuwan Ganganath and Chi-Tsun Cheng and Tse, {Chi K.}",
year = "2015",
month = sep,
doi = "10.1109/CyberC.2015.52",
language = "English",
series = "Proceedings - 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015",
publisher = "IEEE",
pages = "395--398",
booktitle = "Proceedings - 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC 2015)",
address = "United States",
note = "7th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, CyberC 2015 ; Conference date: 17-09-2015 Through 19-09-2015",
}
