A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F17%3A00310258" target="_blank" >RIV/68407700:21730/17:00310258 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.sciencedirect.com/science/article/pii/S0305054816300995" target="_blank" >http://www.sciencedirect.com/science/article/pii/S0305054816300995</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.cor.2016.04.029" target="_blank" >10.1016/j.cor.2016.04.029</a>

Jazyk výsledku

angličtina

Název v původním jazyce

A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment

Popis výsledku v původním jazyce

The single-robot search problem in an unknown environment is defined as the problem of finding a stationary object in the environment whose map is not known a priori. Compared to exploration, the only difference lies in goal selection as the objectives of search and exploration are dissimilar, i.e. a trajectory that is optimal in exploration does not necessarily minimize the expected value of the time to find an object along it. For this reason, in this paper we extend the preliminary ideas presented in Kulich et al. [1] to a general framework that accounts for the particular characteristics of the search problem. Within this framework, an important decision involved in the determination of the trajectory can be formulated as an instance of the Graph Search Problem (GSP), a generalization of the well-known Traveling Deliveryman Problem (TDP) which has not received much attention in the literature. We developed a tailored Greedy Randomized Adaptive Search Procedure (GRASP) meta-heuristic for the GSP, which generates good quality solutions in very short computing times and is incorporated in the overall framework. The proposed approach produces very good results in a simulation environment, showing that it is feasible from a computational standpoint and the proposed strategy outperforms the standard approaches.

Název v anglickém jazyce

A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment

Popis výsledku anglicky

The single-robot search problem in an unknown environment is defined as the problem of finding a stationary object in the environment whose map is not known a priori. Compared to exploration, the only difference lies in goal selection as the objectives of search and exploration are dissimilar, i.e. a trajectory that is optimal in exploration does not necessarily minimize the expected value of the time to find an object along it. For this reason, in this paper we extend the preliminary ideas presented in Kulich et al. [1] to a general framework that accounts for the particular characteristics of the search problem. Within this framework, an important decision involved in the determination of the trajectory can be formulated as an instance of the Graph Search Problem (GSP), a generalization of the well-known Traveling Deliveryman Problem (TDP) which has not received much attention in the literature. We developed a tailored Greedy Randomized Adaptive Search Procedure (GRASP) meta-heuristic for the GSP, which generates good quality solutions in very short computing times and is incorporated in the overall framework. The proposed approach produces very good results in a simulation environment, showing that it is feasible from a computational standpoint and the proposed strategy outperforms the standard approaches.

Druh

J_imp - Článek v periodiku v databázi Web of Science

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

2017

Kód důvěrnosti údajů

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

Název periodika

Computers & Operations Research

ISSN

0305-0548

e-ISSN

1873-765X

Svazek periodika

84

Číslo periodika v rámci svazku

August

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

10

Strana od-do

178-187

Kód UT WoS článku

000401392300014

EID výsledku v databázi Scopus

2-s2.0-84975513452