In this paper, we address the Dubins Orienteering Problem with Neighborhoods (DOPN) a novel problem derived from the regular Orienteering Problem (OP). In the OP, one tries to find a maximal reward collecting path through a subset of given target locations, each with associated reward, such that the resulting path length does not exceed the specified travel budget. The Dubins Orienteering Problem (DOP) requires the reward collecting path to satisfy the curvature-constrained model of the Dubins vehicle while reaching precise positions of the target locations. In the newly introduced DOPN, the resulting path also respects the curvature constrained Dubins vehicle as in the DOP; however, the reward can be collected within a close distant neighborhood of the target locations. The studied problem is inspired by data collection scenarios for an Unmanned Aerial Vehicle (UAV), that can be modeled as the Dubins vehicle. Furthermore, the DOPN is a useful problem formulation of data collection scenarios for a UAV with the limited travel budget due to battery discharge and in scenarios where the sensoric data can be collected from a proximity of each target location. The proposed solution of the DOPN is based on the Variable Neighborhood Search method, and the presented computational results in the OP benchmarks support feasibility of the proposed approach.


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    Titel :

    Dubins orienteering problem with neighborhoods


    Beteiligte:
    Penicka, Robert (Autor:in) / Faigl, Jan (Autor:in) / Vana, Petr (Autor:in) / Saska, Martin (Autor:in)


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    2362385 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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