NDLI: Receding Horizon Planning for Dubins Traveling Salesman Problems

Content Provider	IEEE Xplore Digital Library
Author	Xiang Ma Castanon, D.A.
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Boston Univ., MA (Xiang Ma; Castanon, D.A.)
Abstract	In this paper we study the problem of finding the shortest global path of nonholonomic vehicles given a set of ordered waypoints. We represent the nonholonomic motion constraints using Dubins' model. Many approaches for this problem piece together smooth trajectories by considering the solution of consecutive two-point optimal trajectories, enforcing smoothness at waypoints by requiring continuity of the vehicle state between segments. In this paper, we extend the two point optimal Dubins path solution to consider three consecutive waypoints, with several variations. We use this solution in a receding horizon approach to compute a smooth path through the sequence of waypoints. We compare our approach to alternative algorithms based on two- and three-point solutions, and show the advantage of our receding horizon algorithm over these alternatives. We also consider the problem when the set of waypoints is specified, but not the order. For these problems, we compute the order using an approximate traveling salesman problem solution based on straight line distances, and then solve for a smooth path using the receding horizon algorithm. Our experimental results show that this is superior to alternative approaches proposed in the literature
Starting Page	5453
Ending Page	5458
File Size	323644
Page Count	6
File Format	PDF
ISBN	1424401712
DOI	10.1109/CDC.2006.376928
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Traveling salesman problems Kinematics Path planning Approximation algorithms USA Councils Unmanned aerial vehicles Level control Costs Euclidean distance Heuristic algorithms
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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