On Tightly Bounding the Dubins Traveling Salesman's Optimum

[+] Author and Article Information
Satyanarayana G Manyam

Research Scientist, Infoscitex Corporation, a DCS Company, Dayton, OH, 45431

Sivakumar Rathinam

Associate Professor, Department of Mechanical Engineering, Texas A & M University, College Station, TX 77843

1Corresponding author.

ASME doi:10.1115/1.4039099 History: Received February 10, 2016; Revised January 22, 2018


The Dubins Traveling Salesman Problem (DTSP) has generated significant interest over the last decade due to its occurrence in several civil and military surveillance applications. This problem requires finding a curvature constrained shortest path for a vehicle visiting a set of target locations. Currently, there is no algorithm that can find an optimal solution to the DTSP. In addition, relaxing the motion constraints and solving the resulting Euclidean Traveling Salesman Problem (ETSP) provides the only lower bound available for the DTSP. However, in many problem instances, the lower bound computed by solving the ETSP is far below the cost of the feasible solutions obtained by some well-known algorithms for the DTSP. This article addresses this fundamental issue and presents the first systematic procedure for developing tight lower bounds for the DTSP.

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