Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00354890" target="_blank" >RIV/68407700:21230/21:00354890 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS51168.2021.9636762" target="_blank" >https://doi.org/10.1109/IROS51168.2021.9636762</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS51168.2021.9636762" target="_blank" >10.1109/IROS51168.2021.9636762</a>
Alternative languages
Result language
angličtina
Original language name
Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories
Original language description
This paper presents a novel approach to the multigoal trajectory planning for vehicles with curvature-constrained trajectories such as fixed-wing aircraft. In the existing formulation called the Dubins Traveling Salesman Problem (DTSP), the vehicle speed is assumed to be constant over the whole trajectory, and that does not allow adaptation of the turning radius of the trajectory between the target locations. It does not support optimization of the overall flight time of the multi-goal trajectory by exploiting higher speeds for longer turning radii. Therefore, we propose a novel problem formulation called the Variable-Speed Traveling Salesman Problem (VS-TSP) that employs time-efficient trajectories with variable speed based on a generalization of the Dubins vehicle model, allowing multiple turning radii and change of the forward speed of the vehicle. The VS-TSP allows the vehicle to slow down if high maneuverability is necessary and speed up if high-speed turns with a large radius are beneficial to the overall tour cost. Based on the evaluation results for Cessna 172 aircraft model, the proposed VNS-based algorithm with variable speed provides up to about 20 % faster trajectories than a solution of the DTSP with a single turning radius.
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
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN
978-1-6654-1714-3
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
6
Pages from-to
4714-4719
Publisher name
IEEE
Place of publication
Piscataway
Event location
Praha
Event date
Sep 27, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000755125503109