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- W2170243351 abstract "A tour plan generator (TPG) specifically adapted for mobile robots is described. The TPG computes the itinerary of a tour passing through a number of locations. One typical constraint is that a single-armed mobile robot is usually unable to carry more than one object at a time in its gripper. This constraint requires the TPG to generate a tour in which each pick-up location is visited immediately prior to the corresponding drop-off location. A model that makes it possible to reduce this problem to a special case of the traveling salesman problem with asymmetric cost matrix and nonEuclidean distances is introduced. Another constraint in many mobile robots is the need to periodically visit a home location. The TPG introduced here automatically creates multiple subtours such that a predefined maximal length for each subtour is not exceeded. The algorithm obtains near-optimal solutions with short computation times by combining different heuristic tour-construction rules into a heuristic team approach. >" @default.
- W2170243351 created "2016-06-24" @default.
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- W2170243351 date "1990-01-01" @default.
- W2170243351 modified "2023-09-25" @default.
- W2170243351 title "Task-level tour plan generation for mobile robots" @default.
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- W2170243351 doi "https://doi.org/10.1109/21.105093" @default.
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