A linear relaxation solution of the Tactical Movement Problem

Beasley, Peter and McAree, P. Ross (2012). A linear relaxation solution of the Tactical Movement Problem. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), Algarve, Portugal, (672-677). 07-12 October 2012. doi:10.1109/IROS.2012.6385760

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Author Beasley, Peter
McAree, P. Ross
Title of paper A linear relaxation solution of the Tactical Movement Problem
Conference name 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference location Algarve, Portugal
Conference dates 07-12 October 2012
Proceedings title Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on   Check publisher's open access policy
Journal name IEEE International Conference on Intelligent Robots and Systems   Check publisher's open access policy
Place of Publication Piscataway, NJ, United States
Publisher Institute of Electrical and Electronics Engineers
Publication Year 2012
Year available 2012
Sub-type Fully published paper
DOI 10.1109/IROS.2012.6385760
ISBN 9781467317375
1467317373
ISSN 2153-0858
2153-0866
Start page 672
End page 677
Total pages 6
Collection year 2013
Language eng
Formatted Abstract/Summary
The Tactical Movement Problem seeks to determine the minimum cost mission for a robotic agent tasked to complete an assignment that involves both moving through its environment and manipulating that environment. The problem arises in several contexts including open-pit mining automation when a robotic excavator is tasked to remove a designated area of material. The work involves the excavator progressively digging earth, which is usually loaded to trucks. After each load cycle, a decision about from where to take the next dig must be made. Periodically this involves moving the excavator to a new location. The objective is to complete the task in minimum time or at a minimum energy cost or some similarly motivated cost function. The problem becomes one of determining the optimal path that the excavator should take and the dig operations that should be completed at each point along the path. In this paper the problem is posed as a linear relaxation that is solved successively to near optimality. Simulated results show that cost effective paths can be generated however there is still significant computation burden due to the high complexity of the problem. This result allows the solution of much larger task planning problems than were previously possible, thus moving towards the goal of cost effective automated excavation
Keyword Computation burden
Cost effective paths
Minimum energy costs
Q-Index Code E1
Q-Index Status Confirmed Code
Institutional Status UQ

 
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Created: Sun, 09 Jun 2013, 10:20:44 EST by System User on behalf of School of Mechanical and Mining Engineering