Fast Sequence Rejection for Multi-Goal Planning with Dubins Vehicle
Jan Faigl,Petr Váňa,Jan Drchal,Jan Faigl,Petr Váňa,Jan Drchal
Multi-goal curvature-constrained planning such as the Dubins Traveling Salesman Problem (DTSP) combines NP-hard combinatorial routing with continuous optimization to determine the optimal vehicle heading angle for each target location. The problem can be addressed as combinatorial routing using a finite set of heading samples at target locations. In such a case, optimal heading samples can be dete...
