A survey on routing problems and robotic systems
A survey on routing problems and robotic systems
复制标题
DOI：
10.1017/s0263574718000735
复制
发表时间：
2018-08
期刊：
影响因子：
2.7
通讯作者：
D. Macharet;M. Campos
中科院分区：
文献类型：
--
作者：
D. Macharet;M. Campos
规划长度或时间优化或两者兼而有之的路径是一个长期存在的问题，根据所施加的约束，已经提出了许多方法，并取得了不同程度的成功。在文献中的经典实例中，旅行商问题和车辆路径问题在移动机器人领域得到了广泛的研究和频繁的考虑。可以理解的是，这类问题的经典公式并没有考虑到实际场景中出现的许多不同问题，例如实际机器人系统中常见的运动约束和动态环境，因此解决方案已经以几种方式进行了推广。在这项工作中，我们对机器人系统中通常使用的路由技术的经典作品和最新突破进行了广泛而全面的回顾，并提供了文献中最基本作品的参考。
SUMMARY Planning paths that are length or time optimized or both is an age-long problem for which numerous approaches have been proposed with varied degree of success depending on the imposed constraints. Among classical instances in the literature, the Traveling Salesman Problem and the Vehicle Routing Problem have been widely studied and frequently considered in the realm of mobile robotics. Understandably, the classical formulation for such problems do not take into account many different issues that arise in real-world scenarios, such as motion constraints and dynamic environments, commonly found in actual robotic systems, and consequently the solutions have been generalized in several ways. In this work, we present a broad and comprehensive review of the classical works and recent breakthroughs regarding the routing techniques ordinarily used in robotic systems and provide references to the most fundamental works in the literature.