The Orienteering Problem with Time Windows Applied to Robotic Melon Harvesting

Moshe Mann, Boaz Zion, Dror Rubinstein, Rafi Linker, Itzhak Shmulevich

نتاج البحث: نشر في مجلةمقالةمراجعة النظراء

7 اقتباسات (Scopus)

ملخص

The goal of a melon harvesting robot is to maximize the number of melons it harvests given a progressive speed. Selecting the sequence of melons that yields this maximum is an example of the orienteering problem with time windows. We present a dynamic programming-based algorithm that yields a strictly optimal solution to this problem. In contrast to similar methods, this algorithm utilizes the unique properties of the robotic harvesting task, such as uniform gain per vertex and time windows, to expand domination criteria and quicken the optimal path selection process. We prove that the complexity of this algorithm is linearithmic in the number of melons and can be implemented online if there is a bound on the density. The results of this algorithm are demonstrated to be significantly better than the standard heuristic solution for a wide range of harvesting robot scenarios.

اللغة الأصليةالإنجليزيّة
الصفحات (من إلى)246-267
عدد الصفحات22
دوريةJournal of Optimization Theory and Applications
مستوى الصوت168
رقم الإصدار1
المعرِّفات الرقمية للأشياء
حالة النشرنُشِر - 1 يناير 2016
منشور خارجيًانعم

بصمة

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