Graph-Clustering Method for Construction of the Optimal Movement Trajectory under the Terrain Patrolling

Abstract

The method of the optimal movement trajectory construction in the terrain patrolling tasks is proposed. The method is based on the search of the Hamiltonian circuit on the graph of the terrain map and allows automatic construction of the optimal closed path for arbitrary terrain map. The distinguishing feature of the method is the use of the modified algorithm for the Hamiltonian circuit search. The algorithm can be scaled for the maps corresponding to the graphs with a large (more than 100) number of the vertices, for which the standard brute-force algorithm of the Hamiltonian circuit search requires significantly higher execution time than the proposed algorithm. It is demonstrated that the utilized algorithm possesses 17 times less constant of the time complexity growth than the standard brute-force algorithm. It allows more than one order of magnitude (from 30 to 500 vertices, i.e., approximately to the 17 times) increase of the graph vertices that is used for the Hamiltonian circuit search in the real time (0.1–100 s) regime.