水中ロボティクスにおける被覆問題への革新的戦略の比較：経路計画、探索最適化、応用
Comparison of Innovative Strategies for the Coverage Problem: Path Planning, Search Optimization, and Applications in Underwater Robotics
水中グライダーで放射線源を探索する被覆経路計画において、TSP・MST・最適制御の3手法を比較し、移動時間制約時はOCPが有効だが計算コストが高いことを示した。
著者: Ahmed Ibrahim, Francisco F. C. Rego, Éric Busvelle
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path planning strategies to enhance the efficiency of underwater gliders, particularly in maximizing the probability of detecting a radioactive source while ensuring safe navigation. We evaluate three path-planning approaches: the Traveling Salesman Problem (TSP), Minimum Spanning Tree (MST), and Optimal Control Problem (OCP). Simulations were conducted in MATLAB, comparing processing time, uncovered areas, path length, and traversal time. Results indicate that OCP is preferable when traversal time is constrained, although it incurs significantly higher computational costs. Conversely, MST-based approaches provide faster but less optimal solutions. These findings offer insights into selecting appropriate algorithms based on mission priorities, balancing efficiency and computational feasibility.