• DocumentCode
    3678575
  • Title

    An Improved Dynamic Z* Algorithm for Rapid Replanning of Energy-Efficient Paths

  • Author

    Nuwan Ganganath;Chi-Tsun Cheng;Chi K. Tse

  • Author_Institution
    Dept. of Electron. &
  • fYear
    2015
  • Firstpage
    395
  • Lastpage
    398
  • 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
    "Heuristic algorithms","Mobile robots","Path planning","Navigation","Planning","Simulation"
  • Publisher
    ieee
  • Conference_Titel
    Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC), 2015 International Conference on
  • Type

    conf

  • DOI
    10.1109/CyberC.2015.52
  • Filename
    7307848
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3678575