The Dubins Traveling Salesman Problem with Neighborhoods in the Three-Dimensional Space
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00329485" target="_blank" >RIV/68407700:21230/18:00329485 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
The Dubins Traveling Salesman Problem with Neighborhoods in the Three-Dimensional Space
Original language description
We introduce an extension of the Dubins Traveling Salesman Problem with Neighborhoods into the 3D space in which a fixed-wing aerial vehicle is requested to visit a set of target regions while the vehicle motion constraints are satisfied, i.e., the minimum turning radius and maximum climb and dive angles. The primary challenge is to address both the combinatorial optimization part of finding the sequence of target visits and the continuous optimization part of the final trajectory determination. Due to its high complexity, we propose to address both parts of the problem separately by a decoupled approach in which the sequence is determined by a new distance function designed explicitly for the utilized 3D Dubins Airplane model. The final trajectory is then frond by a local optimization which improves the solution quality. The proposed approach provides significantly better solutions than using Euclidean distance in the sequencing part of the problem. Moreover, the found solutions are of the competitive quality to the sampling-based algorithm while its computational requirements are about two orders of magnitude lower.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GA16-24206S" target="_blank" >GA16-24206S: Efficient Information Gathering with Dubins Vehicles in Persistent Monitoring and Surveillance Missions</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 2018 IEEE International Conference on Robotics and Automation
ISBN
978-1-5386-3081-5
ISSN
1050-4729
e-ISSN
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Number of pages
6
Pages from-to
374-379
Publisher name
IEEE
Place of publication
Piscataway, NJ
Event location
Brisbane
Event date
May 21, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000446394500038