Table of Contents

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 (teacher)
T2b-dtspn (5 Points) Implement the decoupled solution for DTSPN
Projects
P2-data (10 Points) Multi-goal Inspection Planning
Lab resources
T2b-dtspn resource package
P2 resource package


Dubins Vehicle

Lecture 06


Decoupled Approach

Slide 34 in Lecture 05

The Noon-Bean approach comprises the following basic steps

  1. For each region, sample boundary points and heading angles.
  2. Construct a distance matrix using the Noon-Bean transform ( Lecture 5. Multi-goal (data collection) planning) where the individual regions correspond to the NoonBean's Generalized TSP sets.
  3. Find the shortest feasible tour created from Dubins maneuvers by solving the Asymmetric TSP problem characterized by the distance matrix.