DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jang, Dae-Sung | ko |
dc.contributor.author | Chae, Hyeok-Joo | ko |
dc.contributor.author | Choi, Han-Lim | ko |
dc.date.accessioned | 2023-08-08T10:00:41Z | - |
dc.date.available | 2023-08-08T10:00:41Z | - |
dc.date.created | 2023-07-07 | - |
dc.date.created | 2023-07-07 | - |
dc.date.issued | 2017-10 | - |
dc.identifier.citation | 17th International Conference on Control, Automation and Systems, ICCAS 2017, pp.373 - 378 | - |
dc.identifier.issn | 1598-7833 | - |
dc.identifier.uri | http://hdl.handle.net/10203/311265 | - |
dc.description.abstract | This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting all executable areas of given remote sensing and communication tasks; in order to incorporate the nonlinear vehicle dynamics, this problem is regarded as a dynamically-constrained traveling salesman problem with neighborhoods. To obtain a close-to-optimal solution for the path planning in a tractable manner, a sampling-based roadmap algorithm that embeds an optimal control-based path generation process is proposed. The algorithm improves the computational efficiency by reducing numerical computations required for optimizing inefficient local paths, and by extracting additional information from a roadmap of a fixed number of samples. Comparative numerical simulations validate the efficiency of the presented algorithm in reducing computation time and improving the solution quality compared to previous roadmap-based planning methods. | - |
dc.language | English | - |
dc.publisher | IEEE Computer Society | - |
dc.title | Optimal control-based UAV path planning with dynamically-constrained TSP with neighborhoods | - |
dc.type | Conference | - |
dc.identifier.wosid | 000426974400058 | - |
dc.identifier.scopusid | 2-s2.0-85044458379 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 373 | - |
dc.citation.endingpage | 378 | - |
dc.citation.publicationname | 17th International Conference on Control, Automation and Systems, ICCAS 2017 | - |
dc.identifier.conferencecountry | KO | - |
dc.identifier.conferencelocation | Jeju Island | - |
dc.identifier.doi | 10.23919/ICCAS.2017.8204468 | - |
dc.contributor.localauthor | Choi, Han-Lim | - |
dc.contributor.nonIdAuthor | Jang, Dae-Sung | - |
dc.contributor.nonIdAuthor | Chae, Hyeok-Joo | - |
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