Discretization-Based and Look-Ahead Algorithms for the Dubins Traveling Salesperson Problem

Izack Cohen; Chen Epstein; Pantelis Isaiah; Saar Kuzi; Tal Shima

doi:10.1109/tase.2016.2602385

Discretization-Based and Look-Ahead Algorithms for the Dubins Traveling Salesperson Problem

Izack Cohen, Chen Epstein, Pantelis Isaiah, Saar Kuzi, Tal Shima

Technion-Israel Institute of Technology

Research output: Contribution to journal › Article › peer-review

19 Scopus citations

Abstract

A new class of discretization-based look-ahead algorithms (DLAAs) for the Dubins traveling salesperson problem (DTSP) is presented that compares favorably with the existing algorithms from the literature. The discretization level and the length of the look-ahead horizon are the two parameters that uniquely determine a DLAA, and depending on the application in hand, their values can be easily modified to strike a balance between the execution time and the length of the resulting admissible tour. The time complexity of a DLAA is the sum of two terms, one linear in the number of targets (cities) and one that corresponds to the specification of an initial order for the targets. For instances of the DTSP with densely distributed targets, an algorithm that relies on clustering and leads to shorter tours than the DLAA is also presented.

Original language	English
Pages (from-to)	383-390
Number of pages	8
Journal	IEEE Transactions on Automation Science and Engineering
Volume	14
Issue number	1
DOIs	https://doi.org/10.1109/tase.2016.2602385
State	Published - Jan 2017
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2004-2012 IEEE.

Funding

K.R. thanks the National Science Foundation (CHE-1303803) and Sid Richardson Carbon & Energy Co. (Fort Worth, TX) for partial support of this research. C.J. gratefully acknowledges the support from the Hungarian Academy of Science, through its "Momentum" Excellence Program (LP2014-3). Work by MNH was partially supported by the National Science Foundation (CBET-1133672). For computational facilities, the High Performance Computing Center at the University of Texas at Arlington (UTA) and Texas Advanced Computing Center at Austin, TX, are acknowledged. Many of the characterization techniques (e.g., SEM, HR-TEM) used facilities at the Characterization Center for Materials & Biology at UTA. Finally, JPL thanks the Army Research Office, Grant No.W911NF-11-1-0507. We thank the three anonymous reviewers for their constructive criticisms of earlier versions of this manuscript.

Funders	Funder number
Hungarian Academy of Science	LP2014-3, CBET-1133672
Sid Richardson Carbon & Energy Co.
Texas Advanced Computing Center
National Science Foundation	CHE-1303803
Army Research Office
University of Texas at Arlington

Keywords

Dubins vehicle
motion planning
traveling salesperson problem

Access to Document

10.1109/tase.2016.2602385

Cite this

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Discretization-Based and Look-Ahead Algorithms for the Dubins Traveling Salesperson Problem

Abstract

Bibliographical note

Funding

Keywords

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