Data Collection Planning with Dubins Airplane Model and Limited Travel Budget

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00312673" target="_blank" >RIV/68407700:21230/17:00312673 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/ECMR.2017.8098715" target="_blank" >http://dx.doi.org/10.1109/ECMR.2017.8098715</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ECMR.2017.8098715" target="_blank" >10.1109/ECMR.2017.8098715</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Data Collection Planning with Dubins Airplane Model and Limited Travel Budget

Popis výsledku v původním jazyce

In this paper, we address the data collection planning problem for fixed-wing unmanned aircraft vehicle (UAV) with a limited travel budget. We formulate the problem as a variant of the Orienteering Problem (OP) in which the Dubins airplane model is utilized to extend the problem into the three-dimensional space and curvature-constrained vehicles. The proposed Dubins Airplane Orienteering Problem (DA-OP) stands to find the most rewarding data collection trajectory visiting a subset of the given target locations while the trajectory does not exceed the limited travel budget. Contrary to the original OP formulation, the proposed DA-OP combines not only the combinatorial part of determining a subset of the targets to be visited together with determining the sequence to visited them, but it also includes challenges related to continuous optimization in finding the shortest trajectory for Dubins airplane vehicle. The problem is addressed by sampling possible approaching angles to the targets, and a solution is found by the Randomized Variable Neighborhood Search (RVNS) method. A feasibility of the proposed solution is demonstrated by an empirical evaluation on modified benchmarks for the OP instances to the scenarios with varying altitude of the targets.

Název v anglickém jazyce

Data Collection Planning with Dubins Airplane Model and Limited Travel Budget

Popis výsledku anglicky

In this paper, we address the data collection planning problem for fixed-wing unmanned aircraft vehicle (UAV) with a limited travel budget. We formulate the problem as a variant of the Orienteering Problem (OP) in which the Dubins airplane model is utilized to extend the problem into the three-dimensional space and curvature-constrained vehicles. The proposed Dubins Airplane Orienteering Problem (DA-OP) stands to find the most rewarding data collection trajectory visiting a subset of the given target locations while the trajectory does not exceed the limited travel budget. Contrary to the original OP formulation, the proposed DA-OP combines not only the combinatorial part of determining a subset of the targets to be visited together with determining the sequence to visited them, but it also includes challenges related to continuous optimization in finding the shortest trajectory for Dubins airplane vehicle. The problem is addressed by sampling possible approaching angles to the targets, and a solution is found by the Randomized Variable Neighborhood Search (RVNS) method. A feasibility of the proposed solution is demonstrated by an empirical evaluation on modified benchmarks for the OP instances to the scenarios with varying altitude of the targets.

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

<a href="/cs/project/GA16-24206S" target="_blank" >GA16-24206S: Metody informatického plánování cest pro neholonomní mobilní roboty v úlohách monitorování a dohledu</a><br>

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

328-333

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

000426455100062