Energy-Efficient Path Planning Algorithm on Three-Dimensional Large-Scale Terrain Maps for Mobile Robots

This paper presents an algorithm for energy-efficient path planning for robotic systems in three-dimensional maps, called Local Roughness Local Height Difference A* (LRLHD-A*). This algorithm is an extension of A* algorithm; it uses local irregularities of the surface and local height differences to reveal static obstacles, as well as a metric for edge weight determination. Approbation of this algorithm in the Gazebo simulation environment revealed that the distance between the start and target points has no substantial effect on the duration of planning process, using this algorithm. Experimental comparison of performance efficiency of the actual algorithm with relevant alternatives showed, that the LRLHD-A* algorithm traces paths 4-15 times faster, than the most successful analogous algorithm LRLHD-Dijkstra. The path, established at output of our algorithm, outperforms similar algorithms from the A* group in energy efficiency by 1.3-6.3%. This is because the LRLHD-A* algorithm not only ensures finding of the shortest path to the target point, but also accounts for energy consumption of the robot on the route, based on the terrain features and specificity of motion within it.