Algorithms 2013, 6(1), 84-99; doi:10.3390/a6010084

Dubins Traveling Salesman Problem with Neighborhoods: A Graph-Based Approach

Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA 93106-9560, USA
* Author to whom correspondence should be addressed.
Received: 31 October 2012; in revised form: 17 January 2013 / Accepted: 18 January 2013 / Published: 4 February 2013
(This article belongs to the Special Issue Graph Algorithms)
PDF Full-text Download PDF Full-Text [3056 KB, uploaded 4 February 2013 14:23 CET]
Abstract: We study the problem of finding the minimum-length curvature constrained closed path through a set of regions in the plane. This problem is referred to as the Dubins Traveling Salesperson Problem with Neighborhoods (DTSPN). An algorithm is presented that uses sampling to cast this infinite dimensional combinatorial optimization problem as a Generalized Traveling Salesperson Problem (GTSP) with intersecting node sets. The GTSP is then converted to an Asymmetric Traveling Salesperson Problem (ATSP) through a series of graph transformations, thus allowing the use of existing approximation algorithms. This algorithm is shown to perform no worse than the best existing DTSPN algorithm and is shown to perform significantly better when the regions overlap. We report on the application of this algorithm to route an Unmanned Aerial Vehicle (UAV) equipped with a radio to collect data from sparsely deployed ground sensors in a field demonstration of autonomous detection, localization, and verification of multiple acoustic events.
Keywords: traveling salesman problem; graph transformation; nonholonomic vehicles

Article Statistics

Load and display the download statistics.

Citations to this Article

Cite This Article

MDPI and ACS Style

Isaacs, J.T.; Hespanha, J.P. Dubins Traveling Salesman Problem with Neighborhoods: A Graph-Based Approach. Algorithms 2013, 6, 84-99.

AMA Style

Isaacs JT, Hespanha JP. Dubins Traveling Salesman Problem with Neighborhoods: A Graph-Based Approach. Algorithms. 2013; 6(1):84-99.

Chicago/Turabian Style

Isaacs, Jason T.; Hespanha, João P. 2013. "Dubins Traveling Salesman Problem with Neighborhoods: A Graph-Based Approach." Algorithms 6, no. 1: 84-99.

Algorithms EISSN 1999-4893 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert