Cart (Loading....) | Create Account
Close category search window
 

On finding energy-minimizing paths on terrains

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Zheng Sun ; Dept. of Comput. Sci., Hong Kong Baptist Univ., Kowloon, China ; Reif, J.H.

We discuss the problem of computing optimal paths on terrains for a mobile robot, where the cost of a path is defined to be the energy expended due to both friction and gravity. The physical model used by this problem allows for ranges of impermissible traversal directions caused by overturn danger or power limitations. The model is interesting and challenging, as it incorporates constraints found in realistic situations, and these constraints affect the computation of optimal paths. We give some upper- and lower-bound results on the combinatorial size of optimal paths on terrains under this model. With some additional assumptions, we present an efficient approximation algorithm that computes for two given points a path whose cost is within a user-defined relative error ratio. Compared with previous results using the same approach, this algorithm improves the time complexity by using 1) a discretization with reduced size, and 2) an improved discrete algorithm for finding optimal paths in the discretization. We present some experimental results to demonstrate the efficiency of our algorithm. We also provide a similar discretization for a more difficult variant of the problem due to less restricted assumptions.

Published in:

Robotics, IEEE Transactions on  (Volume:21 ,  Issue: 1 )

Date of Publication:

Feb. 2005

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.