Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00331958" target="_blank" >RIV/68407700:21230/19:00331958 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2019.2923949" target="_blank" >https://doi.org/10.1109/LRA.2019.2923949</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2019.2923949" target="_blank" >10.1109/LRA.2019.2923949</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles

Popis výsledku v původním jazyce

This paper concerns a variant of the Orienteering Problem (OP) that arises from multi-goal data collection scenarios where a robot with a limited travel budget is requested to visit given target locations in an environment with obstacles. We call the introduced OP variant the Physical Orienteering Problem (POP). The POP sets out to determine a feasible, collision-free, path that maximizes collected reward from a subset of the target locations and does not exceed the given travel budget. The problem combines motion planning and combinatorial optimization to visit multiple target locations. The proposed solution to the POP is based on the Variable Neighborhood Search (VNS) method combined with the asymptotically optimal sampling-based Probabilistic Roadmap (PRM*) method. The VNS-PRM* uses initial low-dense roadmap that is continuously expanded during the VNS-based POP optimization to shorten paths of the promising solutions, and thus allows maximizing the sum of the collected rewards. The computational results support the feasibility of the proposed approach by a fast determination of high-quality solutions. Moreover, an experimental verification demonstrates the applicability of the proposed VNS-PRM* approach for data collection planning for an unmanned aerial vehicle in an urban-like environment with obstacles.

Název v anglickém jazyce

Physical Orienteering Problem for Unmanned Aerial Vehicle Data Collection Planning in Environments with Obstacles

Popis výsledku anglicky

This paper concerns a variant of the Orienteering Problem (OP) that arises from multi-goal data collection scenarios where a robot with a limited travel budget is requested to visit given target locations in an environment with obstacles. We call the introduced OP variant the Physical Orienteering Problem (POP). The POP sets out to determine a feasible, collision-free, path that maximizes collected reward from a subset of the target locations and does not exceed the given travel budget. The problem combines motion planning and combinatorial optimization to visit multiple target locations. The proposed solution to the POP is based on the Variable Neighborhood Search (VNS) method combined with the asymptotically optimal sampling-based Probabilistic Roadmap (PRM*) method. The VNS-PRM* uses initial low-dense roadmap that is continuously expanded during the VNS-based POP optimization to shorten paths of the promising solutions, and thus allows maximizing the sum of the collected rewards. The computational results support the feasibility of the proposed approach by a fast determination of high-quality solutions. Moreover, an experimental verification demonstrates the applicability of the proposed VNS-PRM* approach for data collection planning for an unmanned aerial vehicle in an urban-like environment with obstacles.

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

3005-3012

Kód UT WoS článku

000474587400003

EID výsledku v databázi Scopus

2-s2.0-85068696854