dc.contributor.author |
Henkel, C |
en |
dc.contributor.author |
Bubeck, A |
en |
dc.contributor.author |
Xu, PW |
en |
dc.coverage.spatial |
Leipzig |
en |
dc.date.accessioned |
2016-09-26T01:40:15Z |
en |
dc.date.issued |
2016-06-29 |
en |
dc.identifier.citation |
9th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2016, Leipzig, 29 Jun 2016 - 01 Jul 2016. IFAC Proceedings Volumes (IFAC-PapersOnline). Elsevier. 49: 32-37. 29 Jun 2016 |
en |
dc.identifier.issn |
1474-6670 |
en |
dc.identifier.uri |
http://hdl.handle.net/2292/30484 |
en |
dc.description.abstract |
An energy efficient local path planner for navigation of omnidirectional battery-powered mobile robots in dynamic environments is presented in this paper. The proposed algorithm extends the Dynamic Window Approach (DWA) to incorporate a cost function based on energy consumption. The estimated energy consumption during planning is predicted using a linear regression model that is learned on the fly. Empirical results are presented on a mobile robot platform that show a 9.79% decrease in energy consumption in comparison to the DWA approach. |
en |
dc.publisher |
Elsevier |
en |
dc.relation.ispartof |
9th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2016 |
en |
dc.relation.ispartofseries |
IFAC Proceedings Volumes (IFAC-PapersOnline) |
en |
dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. |
en |
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
en |
dc.title |
Energy efficient dynamic window approach for local path planning in mobile service robotics |
en |
dc.type |
Conference Item |
en |
dc.identifier.doi |
10.1016/j.ifacol.2016.07.610 |
en |
pubs.issue |
15 |
en |
pubs.begin-page |
32 |
en |
pubs.volume |
49 |
en |
pubs.end-page |
37 |
en |
pubs.finish-date |
2016-07-01 |
en |
pubs.start-date |
2016-06-29 |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/RestrictedAccess |
en |
pubs.subtype |
Conference Paper |
en |
pubs.elements-id |
539563 |
en |
pubs.org-id |
Engineering |
en |
pubs.org-id |
Mechanical Engineering |
en |
pubs.record-created-at-source-date |
2016-08-15 |
en |