Optimal solution of the Generalized Dubins Interval Problem: finding the shortest curvature-constrained path through a set of regions

Váňa, Petr; Faigl, Jan

doi:10.1007/s10514-020-09932-x

Cited by 9 publications

(2 citation statements)

References 17 publications

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“…However, the effectiveness of decoupling methods mainly relies on the similarity between problems, which makes them unsuitable for the situations where the Euclidean distance between two points is obviously shorter than the minimal turning radius of UAV when solving DTSP and DTSPN [32]. In the transformation methods, positions and headings are uniformly sampled to construct the generalized traveling salesman problem (GTSP) firstly, and then the GTSP is converted into an asymmetric traveling salesman problem (ATSP) by the Noon-Bean transformation [33]- [37]. The transformation method can obtain a global optimum when taking a large number of samples, but it greatly increases the amount of calculations.…”

Section: A Related Workmentioning

confidence: 99%

Data Collection Task Planning of a Fixed-Wing Unmanned Aerial Vehicle in Forest Fire Monitoring

et al. 2021

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This article studies the data collection task planning for a fixed-wing unmanned aerial vehicle (UAV) in forest fire monitoring. Multiple wireless-based detection nodes (DNs) are distributed in highrisk areas of the forest to monitor the surrounding environment. The task of UAV is to circularly fly to them and collect the environmental data. Because of the kinematic constraints of UAV and the effective communication range between UAV and DN, this problem can be generally regarded as a Dubins traveling salesman problem with neighborhood (DTSPN). A bi-level hybridization-based metaheuristic algorithm (BLHMA) is proposed for solving this problem. At the first level, differential evolution (DE) optimizes the continuous-valued communication positions and UAV headings by the population-based search. For the asymmetric traveling salesman problem (ATSP) corresponding to the combination of the positions and headings generated by DE, a constructive heuristic based on self-organized multi-agent competition (SOMAC) is proposed to determine the discrete collection sequence. By competitive iterations in such a cooperative way in DE, a high-quality data collection tour can be generated. At the second level, a local search based on multistage approximate gradient is proposed to further refine the positions and headings, which accelerates the convergence of the BLHMA. Referring to a real-world scene of forest fire mornitoring, the simulation experiments are designed, and comparative results show that BLHMA can find significantly shorter data collection tours in most cases over three state-of-the-art algorithms. The proposed UAV data collection planning algorithm is conducive to the efficient execution of the forest fire monitoring data collection mission and the energy saving of UAV.

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Section: A Related Workmentioning

confidence: 99%

Data Collection Task Planning of a Fixed-Wing Unmanned Aerial Vehicle in Forest Fire Monitoring

et al. 2021

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“…Then, the algorithm uses the genetic algorithm to obtain the task execution order and path of the USV. Faigl et al [22,23] utilize Dubins path planning to solve the Dubins traveling salesman problem (DTSP) and Dubins interval problem (DIP) for fixed-wing aircraft.…”

Section: Introductionmentioning

confidence: 99%

Automatic Docking Trajectory Design-Based Time-Varying-Radius Dubins for Unmanned Surface Vessel

2023

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Facing the demand of efficient automatic docking for USV, this paper proposes a new kind of iterative varying-radius Dubins curve design. Due to the special mobility of dockyards, one novel trajectory optimization problem considering time optimum is modeled first. Then, we use the ant colony optimization (ACO) algorithm to solve such a complex problem. In addition to the global exhaustive search algorithm and ACO-based solution, a novel distributed local path planning algorithm named ADTA-TRD is proposed to obtain the solution of the above optimization problem restricted by the local perception of the USV. In essence, this paper draws lessons from the idea of the circular arc segment and straight line segment in the traditional Dubins curve, and consequently, the smoothness of the derived automatic docking trajectory can be guaranteed. Finally, the performance of proposed automatic docking path planning method is verified through simulation results and an actual sea trial.

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Unsupervised Learning-Based Data Collection Planning with Dubins Vehicle and Constrained Data Retrieving Time

Deckerová,

Faigl

2024

Lecture Notes in Networks and Systems

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Optimal solution of the Generalized Dubins Interval Problem: finding the shortest curvature-constrained path through a set of regions

Cited by 9 publications

References 17 publications

Data Collection Task Planning of a Fixed-Wing Unmanned Aerial Vehicle in Forest Fire Monitoring

Data Collection Task Planning of a Fixed-Wing Unmanned Aerial Vehicle in Forest Fire Monitoring

Automatic Docking Trajectory Design-Based Time-Varying-Radius Dubins for Unmanned Surface Vessel

Unsupervised Learning-Based Data Collection Planning with Dubins Vehicle and Constrained Data Retrieving Time

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