Dubins Orienteering Problem
Dubins Orienteering Problem
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DOI：
10.1109/lra.2017.2666261
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发表时间：
2017-02
影响因子：
5.2
通讯作者：
Robert Pěnička;J. Faigl;Petr Váňa;M. Saska
中科院分区：
文献类型：
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作者：
Robert Pěnička;J. Faigl;Petr Váňa;M. Saska
在这封信中，我们解决了曲率受限车辆的定向问题（OP）。对于一组给定的目标地点，每个地点都有相关的奖励，OP需要找到一条从规定的起始地点到给定的结束地点的路线，这样在行程长度在给定的旅行预算约束内的情况下，它可以最大化收集到的奖励。对欧几里得定向问题进行了推广，称为杜宾定向问题（DOP），其中奖励收集路线必须满足杜宾车辆的有限转弯半径。DOP不仅包括选择最有价值的目标和确定最佳访问顺序，而且还包括确定车辆在每个目标位置的航向角。提出的解决方案基于可变邻域搜索技术，其可行性得到了现有OP基准的经验评估的支持。此外，在实际场景中的实验验证进一步证明了所提出的直接求解杜宾斯定向问题的必要性。
In this letter, we address the orienteering problem (OP) for curvature constrained vehicle. For a given set of target locations, each with associated reward, the OP stands to find a tour from a prescribed starting location to a given ending location such that it maximizes collected rewards while the tour length is within a given travel budget constraint. The addressed generalization of the Euclidean OP is called the Dubins Orienteering Problem (DOP) in which the reward collecting tour has to satisfy the limited turning radius of the Dubins vehicle. The DOP consists not only of selecting the most valuable targets and determination of the optimal sequence to visit them, but it also involves the determination of the vehicle's heading angle at each target location. The proposed solution is based on the Variable neighborhood search technique, and its feasibility is supported by an empirical evaluation in existing OP benchmarks. Moreover, an experimental verification in a real practical scenario further demonstrates the necessity of the proposed direct solution of the Dubins Orienteering Problem.