A Composite Metric Routing Approach for Energy-Efficient Shortest Path Planning on Natural Terrains
Abstract
:1. Introduction
- We propose a new greedy (Dijkstra-like) path planning algorithm for UGVs on irregular natural real-life terrains. The algorithm is based on a composite routing metric that combines the distance and energy consumption of the path.
- We consider the vehicle–soil contact Terramechanics in our algorithm, which involves the vehicle structure information and soil composition data. The algorithm also takes realistic soil and slope limitations, UGV power limitations and air humidity into account.
- Our numerical results indicate that the proposed composite metric performs better than the direct energy consumption metric in terms of reducing the overall constructed path distance, with a minimal increment in the energy consumption. Thus, our proposed approsach strikes a better balance between the path distance and energy consumption. Additionally, it is verified that the proposed greedy algorithm strongly outperforms the ACO implementation in terms of both the path distance and consumed energy, and algorithm running time.
- Our numerical running time results demonstrate that our algorithm is well-suited for sizable natural terrain graphs with thousands of nodes and tens of thousands of links.
2. Preliminaries
2.1. Soil Trafficability
2.2. Terrain Model Generation
2.3. Distance and Energy-Cost Calculations
3. Composite Metric Routing Approach
3.1. Composite Metric
3.2. The Proposed Greedy Implementation
- Source and final (or finish) nodes of the required path, respectively;
- Distance of best path from the source node s to node n;
- energy cost of best path from the source node s to node n;
- Composite Metric of best path from the source node s to node n, i.e., ;
- P Set of nodes for which the best path from s is known;
- Predecessor of node n on the best path from the source node s.
Algorithm 1:Composite Metric Greedy Implementation |
|
- the distance/length of the link;
- the angle of inclination of the link;
- the UGV itself; and
- the soil trafficability component (RCI), which depends on the weather humidity conditions.
4. Results and Discussion
4.1. Benchmarks for Comparison
4.2. Test Setup
4.3. Simulation Results
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
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Route Pair [s, f] | Path Length (m) and Energy (kJ) Resulting from [22] | Path Length (m) and Energy (kJ) Resulting from Algorithm 1 | Path Length Reduction (Due to Algorithm 1) | Additional Energy Cost (Due to Algorithm 1) | Elapsed Time for [22] | Elapsed Time for Algorithm 1 | ||
---|---|---|---|---|---|---|---|---|
(m) | (kJ) | (m) | (kJ) | (%) | (%) | (s) | (s) | |
[A,B] | 1989.2 | 97.7 | 1828.9 | 98.5 | 8.06 | 0.80 | 3.35 | 3.42 |
[C,D] | 1024.2 | 579.4 | 911 | 601.3 | 11.05 | 3.65 | 3.16 | 3.22 |
[E,F] | 806.6 | 51 | 663.6 | 52.8 | 17.73 | 3.45 | 3.24 | 3.43 |
[G,H] | 526.3 | 274 | 490.9 | 279.2 | 6.73 | 1.86 | 3.30 | 3.49 |
Route Pair [s, f] | Path Length (m) and Energy (kJ) Resulting from ACO | Path Length Reduction (Due to Algorithm 1) | Energy-Cost Reduction (Due to Algorithm 1) | Elapsed Time for ACO | ||
---|---|---|---|---|---|---|
(m) | (kJ) | (%) | (%) | After 100 ite. (s) | After 500 ite. (s) | |
[A,B] | 2388.3 | 296.8 | 23.38 | 66.81 | 58 230 | 230 |
[C,D] | 1058.7 | 666.7 | 13.95 | 9.81 | 33 | 105 |
[E,F] | 699.6 | 68.9 | 5.15 | 23.37 | 30 | 90 |
[G,H] | 558.1 | 287.5 | 12.04 | 2.89 | 23 | 55 |
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Saad, M.; Salameh, A.I.; Abdallah, S.; El-Moursy, A.; Cheng, C.-T. A Composite Metric Routing Approach for Energy-Efficient Shortest Path Planning on Natural Terrains. Appl. Sci. 2021, 11, 6939. https://doi.org/10.3390/app11156939
Saad M, Salameh AI, Abdallah S, El-Moursy A, Cheng C-T. A Composite Metric Routing Approach for Energy-Efficient Shortest Path Planning on Natural Terrains. Applied Sciences. 2021; 11(15):6939. https://doi.org/10.3390/app11156939
Chicago/Turabian StyleSaad, Mohamed, Ahmed I. Salameh, Saeed Abdallah, Ali El-Moursy, and Chi-Tsun Cheng. 2021. "A Composite Metric Routing Approach for Energy-Efficient Shortest Path Planning on Natural Terrains" Applied Sciences 11, no. 15: 6939. https://doi.org/10.3390/app11156939