A genetic algorithm for the Dubins Traveling Salesman Problem

In this paper the authors study the Traveling Salesman Problem for the Dubins vehicle (DTSP). A genetic algorithm is designed to find the shortest path for DTSP and the performance is evaluated in numerical study. The proposed algorithm can perform better than the well-known Alternating Algorithm and Random Headings Algorithm, in both low waypoint density and high waypoint density situations.

[1]  Zbigniew Michalewicz,et al.  Genetic algorithms + data structures = evolution programs (2nd, extended ed.) , 1994 .

[2]  Emilio Frazzoli,et al.  On the Dubins Traveling Salesman Problem , 2012, IEEE Transactions on Automatic Control.

[3]  F. Bullo,et al.  On the point-to-point and traveling salesperson problems for Dubins' vehicle , 2005, Proceedings of the 2005, American Control Conference, 2005..

[4]  L. Dubins.  On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents , 1957 .

[5]  Ümit Özgüner,et al.  Motion planning for multitarget surveillance with mobile sensor agents , 2005, IEEE Transactions on Robotics.

[6]  David E. Goldberg,et al.  Genetic Algorithms in Search Optimization and Machine Learning , 1988 .

[7]  Vladimir J. Lumelsky,et al.  Classification of the Dubins set , 2001, Robotics Auton. Syst..

[8]  Zbigniew Michalewicz,et al.  Genetic Algorithms + Data Structures = Evolution Programs , 1996, Springer Berlin Heidelberg.

[9]  J. Hung,et al.  Optimal path planning with obstacle avoidance for autonomous surveying , 2010, IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society.

[10]  Jung-Hee Cho,et al.  Path generation algorithm for Intelligence, Surveillance and Reconnaissance of an UAV , 2010, Proceedings of SICE Annual Conference 2010.

[11]  Taoying Li,et al.  A New Design of Genetic Algorithm for Solving TSP , 2011, 2011 Fourth International Joint Conference on Computational Sciences and Optimization.

[12]  Keeyoung Choi,et al.  A path planning algorithm for Surveillance UAVs with timing mission constrains , 2010, ICCAS 2010.

[13]  Emilio Frazzoli,et al.  Traveling Salesperson Problems for the Dubins Vehicle , 2008, IEEE Transactions on Automatic Control.

[14]  Mario Fernando Montenegro Campos,et al.  Nonholonomic path planning optimization for Dubins' vehicles , 2011, 2011 IEEE International Conference on Robotics and Automation.

[15]  Raja Sengupta,et al.  A Resource Allocation Algorithm for Multivehicle Systems With Nonholonomic Constraints , 2007, IEEE Transactions on Automation Science and Engineering.

[16]  Keld Helsgaun,et al.  An effective implementation of the Lin-Kernighan traveling salesman heuristic , 2000, Eur. J. Oper. Res..

[17]  Yanbing Liu,et al.  A Novel Genetic Algorithm and Its Application in TSP , 2008, 2008 IFIP International Conference on Network and Parallel Computing.

[18]  Xiang Ma,et al.  Receding Horizon Planning for Dubins Traveling Salesman Problems , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[19]  Emilio Frazzoli,et al.  The curvature-constrained traveling salesman problem for high point densities , 2007, 2007 46th IEEE Conference on Decision and Control.