Locomotion Mode Selection Plus (LMS+) Algorithm for Resource Efficient Outdoor Navigation

Amir Sharif, Hubert Roth

Abstract

Mobile robots that can fly in air and drive on ground may offer fast and energy efficient navigation. In this paper, a unique method has been proposed for optimal outdoor navigation of robots that can fly and drive. An offline dual mode path planning algorithm is developed and it is named as Locomotion Mode Selection Plus (LMS+) algorithm. It uses a two dimensional ground route from a web based geographic map server and makes a three dimensional resource optimised path, by considering dual mode locomotion. The results showed that the LMS+ algorithm makes a path that is optimised for travel time and energy consumption. The output path can be directly given to dual mode robots for resource optimised autonomous outdoor navigation.

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Paper Citation


in Harvard Style

Sharif A. and Roth H. (2019). Locomotion Mode Selection Plus (LMS+) Algorithm for Resource Efficient Outdoor Navigation.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 573-579. DOI: 10.5220/0008120705730579


in Bibtex Style

@conference{icinco19,
author={Amir Sharif and Hubert Roth},
title={Locomotion Mode Selection Plus (LMS+) Algorithm for Resource Efficient Outdoor Navigation},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={573-579},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008120705730579},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Locomotion Mode Selection Plus (LMS+) Algorithm for Resource Efficient Outdoor Navigation
SN - 978-989-758-380-3
AU - Sharif A.
AU - Roth H.
PY - 2019
SP - 573
EP - 579
DO - 10.5220/0008120705730579