Fast Heuristics for the 3-D Multi-Goal Path Planning Based on the Generalized Traveling Salesman Problem With Neighborhoods

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00331123" target="_blank" >RIV/68407700:21230/19:00331123 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2019.2900507" target="_blank" >https://doi.org/10.1109/LRA.2019.2900507</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2019.2900507" target="_blank" >10.1109/LRA.2019.2900507</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Fast Heuristics for the 3-D Multi-Goal Path Planning Based on the Generalized Traveling Salesman Problem With Neighborhoods

Popis výsledku v původním jazyce

In this letter, we address the multi-goal path planning problem to determine a cost-efficient path to visit a set of three-dimensional regions. The problem is a variant of the traveling salesman problem with neighborhoods (TSPN) where an individual neighborhood consists of multiple regions, and the problem is to determine a shortest multi-goal path to visit at least one region of each neighborhood. Because each neighborhood may consist of several regions, it forms a neighborhood set, and the problem is called the generalized TSPN (GTSPN) in the literature. We propose two heuristic algorithms to provide a feasible solution of the GTSPN quickly. The first algorithm is based on a decoupled approach using a solution of the generalized TSP that is further improved by a quick post-processing procedure. Besides, we propose to employ the existing unsupervised learning technique called the growing self-organizing array to quickly find a feasible solution of the GTSPN that can be further improved by more demanding optimization. The reported results on existing benchmarks for the GTSPN indicate that both proposed heuristics provide better or competitive solutions than the state-of-the-art reference algorithm, but they are up to two orders of magnitude faster.

Název v anglickém jazyce

Fast Heuristics for the 3-D Multi-Goal Path Planning Based on the Generalized Traveling Salesman Problem With Neighborhoods

Popis výsledku anglicky

In this letter, we address the multi-goal path planning problem to determine a cost-efficient path to visit a set of three-dimensional regions. The problem is a variant of the traveling salesman problem with neighborhoods (TSPN) where an individual neighborhood consists of multiple regions, and the problem is to determine a shortest multi-goal path to visit at least one region of each neighborhood. Because each neighborhood may consist of several regions, it forms a neighborhood set, and the problem is called the generalized TSPN (GTSPN) in the literature. We propose two heuristic algorithms to provide a feasible solution of the GTSPN quickly. The first algorithm is based on a decoupled approach using a solution of the generalized TSP that is further improved by a quick post-processing procedure. Besides, we propose to employ the existing unsupervised learning technique called the growing self-organizing array to quickly find a feasible solution of the GTSPN that can be further improved by more demanding optimization. The reported results on existing benchmarks for the GTSPN indicate that both proposed heuristics provide better or competitive solutions than the state-of-the-art reference algorithm, but they are up to two orders of magnitude faster.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

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

2019

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

4

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

2439-2446

Kód UT WoS článku

000463616000003

EID výsledku v databázi Scopus

2-s2.0-85064090682