论文标题
旅行推销员问题的机器人路径计划与Circle邻里：建模，算法和应用程序
Robot Path Planning by Traveling Salesman Problem with Circle Neighborhood: modeling, algorithm, and applications
论文作者
论文摘要
这项研究调查了循环邻里（TSPCN）的旅行推销员问题的问题。而不是城市有圆圈，圆上的每个点可能是一个潜在的访问节点。问题是找到连接圆的最小长度哈密顿周期。在问题的各种现实生活中应用中，本文集中于激光焊接机器人的机器人路径计划，以及通过无人驾驶汽车（无人机）（UAVS）在无线传感器网络中的数据收集。 TSPCN被配方为非线性模型，目标函数是线性化的，并且作为解决方案过程分解为两相模型。这些模型在CPLEX和KNITRO中编码，并用于中小型实例。
This study investigates the problem of traveling salesman problem with circular neighborhood (TSPCN). Instead of cities there are circles and each point on circle can be a potential visiting node. The problem is to find the minimum length Hamiltonian cycle connecting the circles. Among the various real life applications of the problem, this paper concentrates on robot path planning for the laser welding robot, and data collection in a wireless sensor network by unmanned aerial vehicles (UAVs). The TSPCN is formulated as a nonlinear model, the objective function is linearized, and as a solution procedure decomposed into a two-phase model. The Models are coded in Cplex and Knitro and solved for small and medium sized instances.
