Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00312671" target="_blank" >RIV/68407700:21230/17:00312671 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/document/8098704/" target="_blank" >http://ieeexplore.ieee.org/document/8098704/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ECMR.2017.8098704" target="_blank" >10.1109/ECMR.2017.8098704</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs

Popis výsledku v původním jazyce

We introduce a novel online replanning method for robotic information gathering by Unmanned Aerial Vehicles~(UAVs) called Reactive Dubins Traveling Salesman Problem~(RDTSP). The considered task is the following: a set of target locations are to be visited by the robot. From an initial information gathering plan, obtained as an offline solution of either the Dubins Traveling Salesman Problem~(DTSP) or the Coverage Path Planning~(CPP), the proposed RDTSP ensures robust information gathering in each given target location by replanning over possible missed target locations. Furthermore, a simple decision making is a part of the proposed RDTSP to determine which target locations are marked as missed and also to control the appropriate time instant at which the repair plan is inserted into the initial path. The proposed method for replanning is based on the Variable Neighborhood Search metaheuristic which ensures visiting of all possibly missed target locations by minimizing the length of the repair plan and by utilizing the preplanned offline solution of the particular information gathering task. The novel method is evaluated in a realistic outdoor robotic information gathering experiment with UAV for both the Dubins Traveling Salesman Problem and the Coverage Path Planning scenarios.

Název v anglickém jazyce

Reactive Dubins Traveling Salesman Problem for Replanning of Information Gathering by UAVs

Popis výsledku anglicky

We introduce a novel online replanning method for robotic information gathering by Unmanned Aerial Vehicles~(UAVs) called Reactive Dubins Traveling Salesman Problem~(RDTSP). The considered task is the following: a set of target locations are to be visited by the robot. From an initial information gathering plan, obtained as an offline solution of either the Dubins Traveling Salesman Problem~(DTSP) or the Coverage Path Planning~(CPP), the proposed RDTSP ensures robust information gathering in each given target location by replanning over possible missed target locations. Furthermore, a simple decision making is a part of the proposed RDTSP to determine which target locations are marked as missed and also to control the appropriate time instant at which the repair plan is inserted into the initial path. The proposed method for replanning is based on the Variable Neighborhood Search metaheuristic which ensures visiting of all possibly missed target locations by minimizing the length of the repair plan and by utilizing the preplanned offline solution of the particular information gathering task. The novel method is evaluated in a realistic outdoor robotic information gathering experiment with UAV for both the Dubins Traveling Salesman Problem and the Coverage Path Planning scenarios.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of ECMR 2017

ISBN

978-1-5386-1096-1

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

IEEE

Místo vydání

Marseille

Místo konání akce

Paris

Datum konání akce

6. 9. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000426455100051