文章基本信息

标题：Energy Efficient Dynamic Window Approach for Local Path Planning in Mobile Service Robotics * * This work was conducted at the University of Auckland, Auckland, New Zealand
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作者：Christian Henkel ; Alexander Bubeck ; Weiliang Xu 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：15
页码：32-37
DOI：10.1016/j.ifacol.2016.07.610
语种：English
出版社：Elsevier
摘要：AbstractAn 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.
关键词：KeywordsNavigationPath PlanningResource EfficiencyEnergy EfficiencyMachine LearningLinear Regression