@inproceedings{f97037087c7c4e6fa59eda132830433b,
title = "Rapid Replanning of Energy-Efficient Paths for Navigation on Uneven Terrains",
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.",
keywords = "energy-efficient, Mobile robot, path planning, replanning, uneven terrain",
author = "Nuwan Ganganath and Chi-Tsun Cheng and Tse, \{Chi K.\}",
year = "2015",
month = jul,
doi = "10.1109/INDIN.2015.7281769",
language = "English",
series = "Proceeding - 2015 IEEE International Conference on Industrial Informatics, INDIN 2015",
publisher = "IEEE",
pages = "408--413",
booktitle = "Proceeding - 2015 IEEE International Conference on Industrial Informatics (INDIN)",
address = "United States",
note = "13th International Conference on Industrial Informatics, INDIN 2015 ; Conference date: 22-07-2015 Through 24-07-2015",
}