@inproceedings{8ec3ea3f528242c7bd34e5e32f845d8a,
title = "A task and motion planning algorithm for the dubins travelling salesperson problem",
abstract = "A new motion planning algorithm for the so-called Dubins Travelling Salesperson Problem is derived, and compared via simulations with a number of existing algorithms from the literature. In its general form, the new algorithm is dubbed {"}k-step look-ahead algorithm{"} and stems naturally from the formulation of the Dubins Travelling Salesperson Problem as a minimum-time control problem. When the minimum turning radius of the Dubins vehicle is comparable to the average intercity distance, the simulations yield a comparison favourable to the new algorithm. The examples in the paper are confined to small instances of the Dubins Travelling Salesperson Problem, however the main idea behind the k-step look-ahead algorithm can be combined with different optimisation methods, if larger instances of the DTSP are to be considered.",
author = "Pantelis Isaiah and Tal Shima",
note = "Publisher Copyright: {\textcopyright} IFAC.; 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",
year = "2014",
doi = "10.3182/20140824-6-za-1003.00141",
language = "الإنجليزيّة",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
pages = "9816--9821",
editor = "Edward Boje and Xiaohua Xia",
booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",
}