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

Nuwan Ganganath, Chi-Tsun Cheng, Chi K. Tse
2015 2015 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery  
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.
doi:10.1109/cyberc.2015.52 dblp:conf/cyberc/GanganathCT15 fatcat:scoykm4tgvhrlel3dcvxw4eigq