The coverage problem for loitering Dubins vehicles
The coverage problem for loitering Dubins vehicles
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DOI：
10.1109/cdc.2007.4435017
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
K. Savla;F. Bullo;Emilio Frazzoli
中科院分区：
文献类型：
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作者：
K. Savla;F. Bullo;Emilio Frazzoli
本文研究了Dubins车辆组的设施选址问题，即非完整车辆被约束沿有界曲率的平面路径移动而不反转方向。给定一个紧凑的区域和一组Dubins车辆，覆盖问题是最小化从任何车辆到区域内任何点的最坏情况下的旅行时间。由于车辆不能悬停，我们假设它们沿着称为游荡曲线的静态闭合曲线飞行。本文给出了一辆Dubins车辆和一组Dubins车辆在足够大的区域内最小化最坏情况下的旅行时间的圆形游荡模式。我们通过建立一个与圆盘覆盖问题的类比来实现这一点。
In this paper we study a facility location problem for groups of Dubins vehicles, i.e., nonholonomic vehicles that are constrained to move along planar paths of bounded curvature, without reversing direction. Given a compact region and a group of Dubins vehicles, the coverage problem is to minimize the worst-case traveling time from any vehicle to any point in the region. Since the vehicles cannot hover, we assume that they fly along static closed curves called loitering curves. The paper presents circular loitering patterns for a Dubins vehicle and for a group of Dubins vehicles that minimize the worst-case traveling time in sufficiently large regions. We do this by establishing an analogy to the disk covering problem.