论文标题
基于轨迹的旅行人员问题多趋势无人机
Trajectory-based Traveling Salesman Problem for Multirotor UAVs
论文作者
论文摘要
本文提出了一种新的方法，用于集成多动能无人机（UAV）的时间优化路由和轨迹优化。我们的方法通过计算无人机的运动性能有限的可操作性来扩大著名的旅行推销员问题。为此，我们允许每个路线以离散的速度以及离散的飞行方向和计算时间优势轨迹来确定每个边缘的旅行时间成本。我们将这个新颖的优化问题称为基于轨迹的旅行推销员问题（TBTSP）。结果表明，与针对无人机运动学限制的旅行推销员问题的最新方法相比，我们可以将任务持续时间降低15 \％。
This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited maneuverability of the UAVs due to their kinematic properties. To this end, we allow each waypoint to be traversed with a discretized velocity as well as a discretized flight direction and compute time-optimal trajectories to determine the travel time costs for each edge. We refer to this novel optimization problem as the Trajectory-based Traveling Salesman Problem (TBTSP). The results show that compared to a state-of-the-art approach for Traveling Salesman Problems with kinematic restrictions of UAVs, we can decrease mission duration by up to 15\%.
