2017/03/31 by Kevin Yu, Yu, Kevin, Ashish Kumar Budhiraja +3 · 1 citation
Computer Science · Engineering · #FOS: Computer and information sciences #Multiagent Systems (cs.MA) #Robotic Path Planning Algorithms #Robotics (cs.RO) #UAV Applications and Optimization #Vehicle Routing Optimization Methods
paper · pdf · doi:10.48550/arxiv.1704.00079
openalex publication_date 2017/03/31 · openalex created_date 2019/06/27 · openalex updated_date 2026/07/28
We study the problem of planning a tour for an energy-limited Unmanned Aerial Vehicle (UAV) to visit a set of sites in the least amount of time. We envision scenarios where the UAV can be recharged along the way either by landing on stationary recharging stations or on Unmanned Ground Vehicles (UGVs) acting as mobile recharging stations. This leads to a new variant of the Traveling Salesperson Problem (TSP) with mobile recharging stations. We present an algorithm that finds not only the order in which to visit the sites but also when and where to land on the charging stations to recharge. Our algorithm plans tours for the UGVs as well as determines best locations to place stationary charging stations. While the problems we study are NP-Hard, we present a practical solution using Generalized TSP that finds the optimal solution. If the UGVs are slower, the algorithm also finds the minimum number of UGVs required to support the UAV mission such that the UAV is not required to wait for the UGV. Our simulation results show that the running time is acceptable for reasonably sized instances in practice.