ACO for a new TSP in region coverage
An unmanned reconnaissance aerial vehicle mounted sensor of footprint with a small area /spl omega//sub s//sup 2/ is used to cover critical airbase structures for damage assessment. The region of coverage interest is modeled with a closed union of a minimal set of interior disjoint rectangles of wid...
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| creator | Agarwal, A. Meng-Hiot Lim Meng-Joo Er Chan Yee Chew |
| description | An unmanned reconnaissance aerial vehicle mounted sensor of footprint with a small area /spl omega//sub s//sup 2/ is used to cover critical airbase structures for damage assessment. The region of coverage interest is modeled with a closed union of a minimal set of interior disjoint rectangles of width /spl omega//sub i/ = /spl omega//sub s/. We wish to find a minimum-length flight path for complete coverage for the nonholonomic vehicle. We prove that our minimization problem is a traveling salesman problem (TSP) that is symmetric, non-Euclidean and satisfies the triangular inequality. We compare our modeling primitive with two simple primitives commonly used for representing coverage regions. An ant colony optimization heuristic for solving the TSP is presented. |
| doi_str_mv | 10.1109/IROS.2005.1545460 |
| format | Conference Proceeding |
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The region of coverage interest is modeled with a closed union of a minimal set of interior disjoint rectangles of width /spl omega//sub i/ = /spl omega//sub s/. We wish to find a minimum-length flight path for complete coverage for the nonholonomic vehicle. We prove that our minimization problem is a traveling salesman problem (TSP) that is symmetric, non-Euclidean and satisfies the triangular inequality. We compare our modeling primitive with two simple primitives commonly used for representing coverage regions. An ant colony optimization heuristic for solving the TSP is presented.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2005.1545460</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 2153-0858 |
| ispartof | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, p.1717-1722 |
| issn | 2153-0858 2153-0866 |
| language | eng |
| recordid | cdi_ieee_primary_1545460 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Ant colony optimization Costs Erbium Modeling region of coverage Motion planning Orbital robotics Reconnaissance region coverage TSP Solid modeling Strips Traveling salesman problems Unmanned aerial vehicles |
| title | ACO for a new TSP in region coverage |
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