The Orbiting Dubins Traveling Salesman Problem: planning inspection tours for a minehunting AUV
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The Orbiting Dubins Traveling Salesman Problem: planning inspection tours for a minehunting AUV Artur Wolek1
· James McMahon2 · Benjamin R. Dzikowicz2 · Brian H. Houston2
Received: 26 March 2020 / Accepted: 31 August 2020 © Springer Science+Business Media, LLC, part of Springer Nature 2020
Abstract The Orbiting Dubins Traveling Salesman Problem (ODTSP) is to plan a minimum-time tour for a Dubins vehicle model to inspect a set of targets in the plane by orbiting each target along a circular arc. This problem arises in underwater minehunting, where targets are mine-like objects on the sea bottom that are inspected by a sonar-equipped underwater vehicle. Each orbit subtends a prescribed angle so that the target’s acoustic response is measured from a variety of target-sensor relative geometries to aid in classifying it. ODTSP tours consist of circular-arc orbits joined by Dubins paths, and the optimization problem is to partition the set of targets into orbits and determine the position, radius, direction, and vehicle entry angle of each. Algorithms are presented for the restricted case, where each orbit inspects a single target (only), and the general case, where orbits inspect multiple targets. The approach is facilitated by analytical conditions that identify admissible clusters of targets as cliques of a disk graph. The ODTSP is extended to consider path planning in the presence of a steady uniform current. Keywords Autonomous underwater vehicles · Data collection planning · Nonholonomic motion planning · Subsea inspection · Traveling salesman problem
1 Introduction Autonomous underwater vehicles (AUVs) provide a scalable, automated, and efficient means to conduct minehunting operations that mitigates risk for human operators (Stack The work of A. Wolek was supported by the American Society for Engineering Education through the ASEE postdoctoral fellowship program at the Naval Research Laboratory. The work of J. McMahon, B. R. Dzikowicz, and B. H. Houston was supported by the Office of Naval Research through the Naval Research Laboratory base program.
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Artur Wolek [email protected] James McMahon [email protected] Benjamin R. Dzikowicz [email protected] Brian H. Houston [email protected]
1
Department of Mechanical Engineering and Engineering Science, University of North Carolina at Charlotte, 9201 University City Blvd., Charlotte, NC 28223, USA
2
Physical Acoustics Branch (Code 7130), Naval Research Laboratory, 4555 Overlook Ave SW, Washington, DC 20375, USA
2011). The objective of minehunting is to clear an area of mines by localizing, identifying, and destroying each mine. First, the AUV surveys an area with a high coverage-rate sensor to determine the locations of targets (i.e., mine-like objects). Then, each target is inspected at close range to confirm whether it is a mine or a false alarm (see Fig. 1). Last, confirmed mines may be destroyed. Path planning plays an important role in enabling limited endurance AUVs to efficiently perform these tasks. This work investigat
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