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

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

doi:https://doi.org/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

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

Keywords

Dubins vehicle
motion planning
traveling salesperson problem

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

https://doi.org/10.1109/TASE.2016.2602385

Cite this

@article{a63923bf95da439c9213dfcce19796f8,

title = "Discretization-Based and Look-Ahead Algorithms for the Dubins Traveling Salesperson Problem",

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.",

keywords = "Dubins vehicle, motion planning, traveling salesperson problem",

author = "Izack Cohen and Chen Epstein and Pantelis Isaiah and Saar Kuzi and Tal Shima",

note = "Publisher Copyright: {\textcopyright} 2004-2012 IEEE.",

year = "2017",

month = jan,

doi = "https://doi.org/10.1109/TASE.2016.2602385",

language = "الإنجليزيّة",

volume = "14",

pages = "383--390",

journal = "IEEE Transactions on Automation Science and Engineering",

issn = "1545-5955",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "1",

}

TY - JOUR

T1 - Discretization-Based and Look-Ahead Algorithms for the Dubins Traveling Salesperson Problem

AU - Cohen, Izack

AU - Epstein, Chen

AU - Isaiah, Pantelis

AU - Kuzi, Saar

AU - Shima, Tal

PY - 2017/1

Y1 - 2017/1

N2 - 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.

AB - 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.

KW - Dubins vehicle

KW - motion planning

KW - traveling salesperson problem

UR - http://www.scopus.com/inward/record.url?scp=85027684443&partnerID=8YFLogxK

U2 - https://doi.org/10.1109/TASE.2016.2602385

DO - https://doi.org/10.1109/TASE.2016.2602385

M3 - مقالة

SN - 1545-5955

VL - 14

SP - 383

EP - 390

JO - IEEE Transactions on Automation Science and Engineering

JF - IEEE Transactions on Automation Science and Engineering

IS - 1

ER -

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

Abstract

Keywords

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this