Towards a Continuous Solution of the d-Visibility Watchman Route Problem in a Polygon With Holes

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00357807" target="_blank" >RIV/68407700:21230/22:00357807 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/22:00357807

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2022.3159824" target="_blank" >https://doi.org/10.1109/LRA.2022.3159824</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2022.3159824" target="_blank" >10.1109/LRA.2022.3159824</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Towards a Continuous Solution of the d-Visibility Watchman Route Problem in a Polygon With Holes

Popis výsledku v původním jazyce

A new heuristic solution framework is proposed to address the challenging watchman route problem (WRP) in a polygonal domain, which can be viewed as an offline version of the robot exploration task. The solution is the shortest route from which the robot can visually inspect a known 2D environment. Our framework considers a circular robot with radius r equipped with an omnidirectional sensor with limited visibility range d . Instead of a standard decoupled solution, the framework generates a set of specifically constrained regions covering the domain and then solves the traveling salesman problem with continuous neighborhoods (TSPN) to obtain the solution route. The TSPN is solved by another proposed heuristic algorithm that finds a discretized solution first and then improves it back in the continuous domain. The whole framework is evaluated experimentally, compared to two approaches from the literature, and shown to provide the highest-quality solutions. The current version of the framework is one step from a fully continuous approach to the WRP that we will address in the future.

Název v anglickém jazyce

Towards a Continuous Solution of the d-Visibility Watchman Route Problem in a Polygon With Holes

Popis výsledku anglicky

A new heuristic solution framework is proposed to address the challenging watchman route problem (WRP) in a polygonal domain, which can be viewed as an offline version of the robot exploration task. The solution is the shortest route from which the robot can visually inspect a known 2D environment. Our framework considers a circular robot with radius r equipped with an omnidirectional sensor with limited visibility range d . Instead of a standard decoupled solution, the framework generates a set of specifically constrained regions covering the domain and then solves the traveling salesman problem with continuous neighborhoods (TSPN) to obtain the solution route. The TSPN is solved by another proposed heuristic algorithm that finds a discretized solution first and then improves it back in the continuous domain. The whole framework is evaluated experimentally, compared to two approaches from the literature, and shown to provide the highest-quality solutions. The current version of the framework is one step from a fully continuous approach to the WRP that we will address in the future.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

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

7

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

5934-5941

Kód UT WoS článku

000783540700002

EID výsledku v databázi Scopus

2-s2.0-85126557588