Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00354890" target="_blank" >RIV/68407700:21230/21:00354890 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/IROS51168.2021.9636762" target="_blank" >https://doi.org/10.1109/IROS51168.2021.9636762</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS51168.2021.9636762" target="_blank" >10.1109/IROS51168.2021.9636762</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories

Popis výsledku v původním jazyce

This paper presents a novel approach to the multigoal trajectory planning for vehicles with curvature-constrained trajectories such as fixed-wing aircraft. In the existing formulation called the Dubins Traveling Salesman Problem (DTSP), the vehicle speed is assumed to be constant over the whole trajectory, and that does not allow adaptation of the turning radius of the trajectory between the target locations. It does not support optimization of the overall flight time of the multi-goal trajectory by exploiting higher speeds for longer turning radii. Therefore, we propose a novel problem formulation called the Variable-Speed Traveling Salesman Problem (VS-TSP) that employs time-efficient trajectories with variable speed based on a generalization of the Dubins vehicle model, allowing multiple turning radii and change of the forward speed of the vehicle. The VS-TSP allows the vehicle to slow down if high maneuverability is necessary and speed up if high-speed turns with a large radius are beneficial to the overall tour cost. Based on the evaluation results for Cessna 172 aircraft model, the proposed VNS-based algorithm with variable speed provides up to about 20 % faster trajectories than a solution of the DTSP with a single turning radius.

Název v anglickém jazyce

Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories

Popis výsledku anglicky

This paper presents a novel approach to the multigoal trajectory planning for vehicles with curvature-constrained trajectories such as fixed-wing aircraft. In the existing formulation called the Dubins Traveling Salesman Problem (DTSP), the vehicle speed is assumed to be constant over the whole trajectory, and that does not allow adaptation of the turning radius of the trajectory between the target locations. It does not support optimization of the overall flight time of the multi-goal trajectory by exploiting higher speeds for longer turning radii. Therefore, we propose a novel problem formulation called the Variable-Speed Traveling Salesman Problem (VS-TSP) that employs time-efficient trajectories with variable speed based on a generalization of the Dubins vehicle model, allowing multiple turning radii and change of the forward speed of the vehicle. The VS-TSP allows the vehicle to slow down if high maneuverability is necessary and speed up if high-speed turns with a large radius are beneficial to the overall tour cost. Based on the evaluation results for Cessna 172 aircraft model, the proposed VNS-based algorithm with variable speed provides up to about 20 % faster trajectories than a solution of the DTSP with a single turning radius.

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

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-6654-1714-3

ISSN

2153-0858

e-ISSN

2153-0866

Počet stran výsledku

6

Strana od-do

4714-4719

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Praha

Datum konání akce

27. 9. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000755125503109