| author | = | {S. Bla\v{z}ek}, |
| title | = | {Optim\'alne pl\'anovanie trasy pre heterog\'enne multi-vozidlov\'e syst\'emy}, |
| school | = | {\'UIAM FCHPT STU v Bratislave}, |
| year | = | {2017}, |
| address | = | {Radlinsk\'eho 9, 812 37 Bratislava}, |
| month | = | {xx.xx.2017}, |
| annote | = | {This thesis considers a path planning problem for heterogeneous vehicles. Such vehicle consist of two parts which have the ability to move individually. One of them is faster, but has shorter range and is therefore required to keep in a close distance to the main vehicle. The objective is to devise an optimal path of minimal length under the condition that the faster part of the heterogeneous system visits all desired waypoints exactly once. Three versions of the problem are considered.
One assumes that the order in which the waypoints are visited is known a-priori. In such a case we show that the optimal path can be found by solving a mixed-integer second-order cone problem.
The second version assumes that the order in which the waypoints are visited is not known a-priori, but can be optimized as to shorten the length of the path. Two approaches to solve this problem are presented and evaluated with respect to computational complexity.
In the third situation we consider that visited points are moving in real time along with the vehicle.}, |
| supervisor | = | {prof. Ing. Miroslav Fikar, DrSc.}, |
| consultant | = | {prof. Ing. Michal Kvasnica, PhD.}, |
| url | = | {https://www.uiam.sk/assets/publication_info.php?id_pub=1772} |
}