The Dubins Traveling Salesman Problem with Neighborhoods in the Three-Dimensional Space

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

The Dubins Traveling Salesman Problem with Neighborhoods in the Three-Dimensional Space

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

The Dubins Traveling Salesman Problem with Neighborhoods in the Three-Dimensional Space

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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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

2018

Kód důvěrnosti údajů

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

Název statě ve sborníku

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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Počet stran výsledku

6

Strana od-do

374-379

Název nakladatele

IEEE

Místo vydání

Piscataway, NJ

Místo konání akce

Brisbane

Datum konání akce

21. 5. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000446394500038