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Asymmetric 2-Opt Scheduling for Roadmap-Based Task Planning in Urban Terrain

Adolf, Florian-Michael and Müller, Anna (2013) Asymmetric 2-Opt Scheduling for Roadmap-Based Task Planning in Urban Terrain. AIAA Infotech@Aerospace, 19.-22. August 2013, Boston, MA, USA.

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Official URL: http://www.aiaa.org/Boston2013/

Abstract

This work presents an automated task scheduling approach for mission planning that allows for task-level motion planning with an unmanned rotorcraft in complex terrain. Given a set of mission task elements (e.g. single waypoints or areas of interest) a 2-opt-based heuristic optimization is chosen to reduce tour costs and achieve 2-optimal results. The 2-opt approach is modified to account for asymmetric partial tour costs derived from a sampling-based path planner. To aid this local optimization a global meta-heuristic guidance like simulated-annealing is evaluated. The iterative convergence is evaluated for different configurations of tour initialization methods, a meta heuristic and two 2-opt variants. Although in theory local minima can exist, given the planning uncertainties and an expected number of tasks of up to 100, the cost sub-optimality of generated task schedules are practically negligible. Furthermore, we emphasize the combination of task scheduling with a multi-query planner in fair comparison against a single-query variant of our approach. For tasks distributed across complex terrain, the combination of 2-opt and our multi-query planner results in feasible tours within the order of a few seconds. Moreover, due to a local optimization type of tour improvement, an extension for online re-scheduling is possible.

Item URL in elib:https://elib.dlr.de/83993/
Document Type:Conference or Workshop Item (Speech)
Title:Asymmetric 2-Opt Scheduling for Roadmap-Based Task Planning in Urban Terrain
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Adolf, Florian-MichaelDLR-FT-ULFUNSPECIFIED
Müller, AnnaFH-BielefeldUNSPECIFIED
Date:19 August 2013
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:UAV, Task Planning, Path Planning, Sampling-based Motion Planning
Event Title:AIAA Infotech@Aerospace
Event Location:Boston, MA, USA
Event Type:international Conference
Event Dates:19.-22. August 2013
Organizer:The American Institute of Aeronautics and Astronautics (AIAA)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Adolf, Florian-Michael
Deposited On:04 Sep 2013 15:57
Last Modified:08 May 2014 23:24

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