Sampling-Based Tour Generation of Arbitrarily Oriented Dubins Sensor Platforms

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This paper describes a formulation and develops a novel procedure for a fleet of unmanned aerial vehicles (UAVs) from the perspective of remotely executable tasks. In a complex mission environment, the characteristics of vehicles can be different in terms of sensing capability, range, direction, or the motion constraints. The purpose of this paper is to find a set of paths that minimizes the sum of costs while every task region is visited exactly once under certain reasonable assumptions. The heterogeneous multi-UAV path planning problem is formulated as a generalized heterogeneous multiple depot asymmetric traveling salesman problem (GHMDATSP), which is a variant of the traveling salesman problem. The proposed transformation procedure changes an instance of the GHMDATSP into a format of an asymmetric traveling salesman problem (ATSP) to obtain tours for which the total cost of a fleet of vehicles is minimized. The instance of the ATSP is solved using the Lin-Kernighan-Helsgaun heuristic, and the result is inversely transformed to the GHMDATSP-formatted instance to obtain a set of tours. An additional local optimization-based path refinement process helps obtain a high-quality solution. Numerical experiments investigate and confirm the validity and applicability of the proposed procedure.
Publisher
AMER INST AERONAUTICS ASTRONAUTICS
Issue Date
2019-05
Language
English
Article Type
Article; Proceedings Paper
Citation

JOURNAL OF AEROSPACE INFORMATION SYSTEMS, v.16, no.5, pp.168 - 186

ISSN
1940-3151
DOI
10.2514/1.I010683
URI
http://hdl.handle.net/10203/267549
Appears in Collection
AE-Journal Papers(저널논문)
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