NDLI: Efficient target visiting path planning for multiple vehicles with bounded curvature

Content Provider	IEEE Xplore Digital Library
Author	Macharet, D.G. Alves Neto, A. da Camara Neto, V.F. Campos, M.F.M.
Copyright Year	2013
Description	Author affiliation: Comput. Sci. Dept., Univ. Fed. de Minas Gerais, Belo Horizonte, Brazil (Macharet, D.G.; Campos, M.F.M.) \|\| Fundacao Centro de Anal., Pesquisa e Inovacao Tecnol. (FUCAPI, Manaus, Brazil (da Camara Neto, V.F.) \|\| Telecommun. & Mechatron. Dept., Univ. Fed. de Sao Joao del-Rei, Sao Joao del-Rei, Brazil (Alves Neto, A.)
Abstract	In this paper, we introduce the k-Dubins Traveling Salesman Problem with Neighborhoods (k-DTSPN), the problem of planning efficient paths among target regions for multiple robots with bounded curvature constraints (Dubins vehicles). This paper presents two approaches for the problem. Firstly, we present a heuristic that solves it in two steps, based on classical techniques found in the literature. Secondly, we employ a Memetic Algorithm to solve both combinatorial and continuous phases of the problem in a combined manner. We provide formal analysis about both proposed techniques, presenting upper bounds to the length of the longest tour. Numerous trials in simulated environments were executed, providing statistical examination of the final results.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	3830
Ending Page	3836
File Size	300582
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696904
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Upper bound Cities and towns Traveling salesman problems Algorithm design and analysis Robot kinematics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
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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