====== Lab08 - Dubins Traveling Salesman Problem with Neighborhoods - NoonBean Approach ======

^ Motivations and Goals  ^
| Become familiar with Dubins maneuvers |
| Become familiar with the Dubins TSP with neighborhoods |
| Become familiar with the NoonBean transform |
^ Tasks ([[courses:b4m36uir:internal:instructions:lab08|teacher]]) ^
| [[courses:b4m36uir:hw:t2b-dtspn|T2b-dtspn]] **(5 Points)** Implement the decoupled solution for DTSPN |
^ Projects  ^
| [[courses:b4m36uir:projects:p2-data|P2-data]] **(10 Points)** Multi-goal Inspection Planning |
^ Lab resources  ^
| {{ :courses:b4m36uir:hw:uir-t2b-dtspn.zip |T2b-dtspn resource package}} |
| {{ :courses:b4m36uir:projects:uir-p2-data.zip |P2 resource package}} |


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==== Dubins Vehicle ====
[[https://cw.fel.cvut.cz/wiki/_media/courses/b4m36uir/lectures/b4m36uir-lec06-slides.pdf|Lecture 06]]

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==== Decoupled Approach ====
Slide 34 in [[https://cw.fel.cvut.cz/wiki/_media/courses/b4m36uir/lectures/b4m36uir-lec05-slides.pdf|Lecture 05]]


The Noon-Bean approach comprises the following basic steps
    - For each region, sample boundary points and heading angles.
    - Construct a distance  matrix using the Noon-Bean transform ({{courses:b4m36uir:lectures:b4m36uir-lec05-slides.pdf| Lecture 5. Multi-goal (data collection) planning}}) where the individual regions correspond to the NoonBean's Generalized TSP sets.
    - Find the shortest feasible tour created from Dubins maneuvers by solving the Asymmetric TSP problem characterized by the distance matrix.