Path planning algorithm ensuring accurate localization of radiation sources
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00354308" target="_blank" >RIV/68407700:21230/22:00354308 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/22:00354308
Result on the web
<a href="https://doi.org/10.1007/s10489-021-02941-y" target="_blank" >https://doi.org/10.1007/s10489-021-02941-y</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10489-021-02941-y" target="_blank" >10.1007/s10489-021-02941-y</a>
Alternative languages
Result language
angličtina
Original language name
Path planning algorithm ensuring accurate localization of radiation sources
Original language description
An autonomous search for sources of gamma radiation in an outdoor environment is a domain suitable for the deployment of a heterogeneous robotic team, consisting of an Unmanned Aerial (UAV) and an Unmanned Ground (UGV) Vehicle. The UAV is convenient for fast mapping of the area and identifying regions of interest, whereas the UGV can perform highly accurate localization. It is assumed that the regions of interest are identified by the UAV during an initial reconnaissance, while performing a simple motion pattern. This paper proposes a path planning algorithm for the UGV, which guarantees accurate source localization in multiple preselected regions and minimizes the total path length. The problem is formulated as the Generalized Travelling Salesman Problem (GTSP) defined for discrete sets of suitable maneuvers (circular arcs), ensuring source localization in the given regions. The problem is successfully solved by a modified version of the state of the art GTSP solver, Generalized Large Neighborhood Search with Arcs (GLNSarc). Apart from adapting the GLNS, other aspects of the planning task are addressed: problem discretization and informed sampling of valid circular arcs, variants of weighting the nonrestricted trajectory segments between the arcs and postprocessing of the discretely planned trajectory in the continuous domain.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Applied Intelligence
ISSN
0924-669X
e-ISSN
1573-7497
Volume of the periodical
52
Issue of the periodical within the volume
January
Country of publishing house
CH - SWITZERLAND
Number of pages
23
Pages from-to
9574-9596
UT code for WoS article
000739812700005
EID of the result in the Scopus database
2-s2.0-85122408941