TY - GEN
T1 - Path planning for unmanned vehicle searching based on sensor deployment and travelling salesman problem
AU - Di, Bin
AU - Zhou, Rui
AU - Zhang, Yu
AU - Che, Jun
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/12
Y1 - 2015/1/12
N2 - The path planning problem for unmanned vehicle searching over the region of interest with obstacles is investigated in this paper. The path planning problem is decomposed into the sensor deployment problem and the travelling salesman problem based on the fundamental finding that the vehicle could search the region that covered by the sensor if the vehicle pass through the position where the sensor is deployed. The positions of the sensors deployed to cover the region completely are obtained by solving the sensor deployment problem. Taking the positions of the deployed sensors as the waypoints that the vehicle has to travel through, the shortest path connecting all the waypoints can be obtained by solving the travelling salesman problem. The cooperatively coevolving particle swarm optimization algorithm with multiple update rules is newly developed for the sensor deployment problem. Numerical simulation results demonstrate the feasibility of the proposed methods.
AB - The path planning problem for unmanned vehicle searching over the region of interest with obstacles is investigated in this paper. The path planning problem is decomposed into the sensor deployment problem and the travelling salesman problem based on the fundamental finding that the vehicle could search the region that covered by the sensor if the vehicle pass through the position where the sensor is deployed. The positions of the sensors deployed to cover the region completely are obtained by solving the sensor deployment problem. Taking the positions of the deployed sensors as the waypoints that the vehicle has to travel through, the shortest path connecting all the waypoints can be obtained by solving the travelling salesman problem. The cooperatively coevolving particle swarm optimization algorithm with multiple update rules is newly developed for the sensor deployment problem. Numerical simulation results demonstrate the feasibility of the proposed methods.
UR - https://www.scopus.com/pages/publications/84922496358
U2 - 10.1109/CGNCC.2014.7007451
DO - 10.1109/CGNCC.2014.7007451
M3 - 会议稿件
AN - SCOPUS:84922496358
T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
SP - 1775
EP - 1779
BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Y2 - 8 August 2014 through 10 August 2014
ER -