Abstract
We study the problem of finding the minimum-length curvature constrained closed path through a set of regions in the plane. This problem is referred to as the Dubins Traveling Salesperson Problem with Neighborhoods (DTSPN). An algorithm is presented that uses sampling to cast this infinite dimensional combinatorial optimization problem as a Generalized Traveling Salesperson Problem (GTSP) with intersecting node sets. The GTSP is then converted to an Asymmetric Traveling Salesperson Problem (ATSP) through a series of graph transformations, thus allowing the use of existing approximation algorithms. This algorithm is shown to perform no worse than the best existing DTSPN algorithm and is shown to perform significantly better when the regions overlap. We report on the application of this algorithm to route an Unmanned Aerial Vehicle (UAV) equipped with a radio to collect data from sparsely deployed ground sensors in a field demonstration of autonomous detection, localization, and verification of multiple acoustic events.
Highlights
Research in the area of unmanned aerial vehicles (UAV) has evolved in recent years
Path planning problems typically rely on approximating the cost of the mission by the length of the solution to a Euclidean Traveling Salesman Problem (ETSP), where the cost to travel from one waypoint to the is approximated by the Euclidean distance between the two waypoints
We use Monte Carlo simulation to investigate the level of performance improvement that can be gained as well as the degree of increase in the size of the resulting Asymmetric Traveling Salesperson Problem (ATSP) by using Intersecting Regions Algorithm (IRA) compared with the RCM
Summary
Research in the area of unmanned aerial vehicles (UAV) has evolved in recent years. There is rich literature covering various areas of autonomy including path planning, trajectory planning, task allocation, cooperation, sensing, and communications. As the mission objectives of UAVs have increased. Algorithms 2013, 6 in complexity and importance, problems are starting to arise at the intersection of these disciplines. The Dubins Traveling Salesman Problem with Neighborhoods (DTSPN) combines the problem of path planning with trajectory planning while using neighborhoods to represent communication ranges or sensor footprints. In this problem the UAV needs to enter a region surrounding each objective waypoint
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