移動コストの下界近似による移動体巡回経路計画の高速化

抄録

In order to patrol inspection points, a patrol path planning, which plans both a route though the inspection points and paths between the inspection points, is required. The planning has a problem that the more inspection points, the more planning time. We focused on path planning occupies most of the time for patrol route planning, we apply lower bound costs for solving traveling salesman problem. Approximation with the lower bound reduces the number of path planning, which reduces route planning time. The simulation with 25 points inspection showed that the planning time decreased 94% in comparison with the conventional method, whereas route length increased only 0.6%.