Path Planning Algorithms for Multiple Heterogeneous Vehicles

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Title: Path Planning Algorithms for Multiple Heterogeneous Vehicles
Author: Oberlin, Paul V.
Abstract: Unmanned aerial vehicles (UAVs ) are becoming increasingly popular for surveillance in civil and military applications . Vehicles built for this purpose vary in their sensing capabilities , speed and maneuverability . It is therefore natural to assume that a team of UAVs given the mission of visiting a set of targets would include vehicles with differing capabilities . This paper addresses the problem of assigning each vehicle a sequence of targets to visit such that the mission is completed with the least "cost" possible given that the team of vehicles is heterogeneous . In order to simplify the problem the capabilities of each vehicle are modeled as cost to travel from one target to another . In other words , if a vehicle is particularly suited to visit a certain target , the cost for that vehicle to visit that target is low compared to the other vehicles in the team . After applying this simplification , the problem can be posed as an instance of the combinatorial problem called the Heterogeneous Travelling Salesman Problem (HTSP ) . This paper presents a transformation of a Heterogenous , Multiple Depot , Multiple Traveling Salesman Problem (HMDMTSP ) into a single , Asymmetric , Traveling Salesman Problem (ATSP ) . As a result , algorithms available for the single salesman problem can be used to solve the HMDMTSP . To show the effectiveness of the transformation , the well known Lin -Kernighan -Helsgaun heuristic was applied to the transformed ATSP . Computational results show that good quality solutions can be obtained for the HMDMTSP relatively fast . Additional complications to the sequencing problem come in the form of precedence constraints which prescribe a partial order in which nodes must be visited . In this context the sequencing problem was studied seperately using the Linear Program (LP ) relaxation of a Mixed Integer Linear Program (MILP ) formulation of the combinatorial problem known as the "Precedence Constrained Asymmetric Travelling Salesman Problem" (PCATSP ) .
URI: http : / /hdl .handle .net /1969 .1 /ETD -TAMU -2009 -05 -762
Date: 2010-01-16

Citation

Path Planning Algorithms for Multiple Heterogeneous Vehicles. Available electronically from http : / /hdl .handle .net /1969 .1 /ETD -TAMU -2009 -05 -762 .

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