planner.avclPlan.search

Class AnnealedTSPSearchPlanner

java.lang.Object

planner.avclPlan.search.SearchTrackPlanner

planner.avclPlan.search.TrackedSearchPlanner

planner.avclPlan.search.TSPSearchPlanner

planner.avclPlan.search.AnnealedTSPSearchPlanner

All Implemented Interfaces:

Runnable

public class AnnealedTSPSearchPlanner
extends TSPSearchPlanner
implements Runnable

Class that uses a simulated annealing approach to producing a solution to the TSP problem that represents a series of waypoints in a search pattern.

Author:

dtdavis

Field Summary

Fields inherited from class planner.avclPlan.search.TSPSearchPlanner

COS60, searchSequence, SIN60, SIXTY_DEGREES, THIRTY_DEGREES

Fields inherited from class planner.avclPlan.search.TrackedSearchPlanner

pd, sweepWidth, trackSpacing

Fields inherited from class planner.avclPlan.search.SearchTrackPlanner

plan, searchArea, startPoint

Constructor Summary

Constructors

Constructor and Description
AnnealedTSPSearchPlanner(GeoArea searchArea, double S, double PD, double[] startPosit) Creates a new instance of AnnealedTSPSearchPlanner
AnnealedTSPSearchPlanner(GeoArea searchArea, double S, double PD, double[] startPosit, boolean pointFocus) Creates a new instance of AnnealedTSPSearchPlanner

Method Summary

Modifier and Type	Method and Description
protected double	getPSwitch(double d0, double d1, double t) Computes the probability that a switch of path waypoints is conducted
protected void	incrementallyImprove() Uses pairwise comparison of array elements to incrementally improve a proposed traveling salesman problem solution.
void	run() Implements the Runnable interface

Methods inherited from class planner.avclPlan.search.TSPSearchPlanner

computeVisitPoints, distance, generatePlan, partialDistance, partialDistance, remainingDistance

Methods inherited from class planner.avclPlan.search.TrackedSearchPlanner

setRequiredPD, setSweepWidth, setTrackSpacing

Methods inherited from class planner.avclPlan.search.SearchTrackPlanner

getPlan, getRunTime, setRunTime

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

AnnealedTSPSearchPlanner

public AnnealedTSPSearchPlanner(GeoArea searchArea,
                                double S,
                                double PD,
                                double[] startPosit,
                                boolean pointFocus)

Creates a new instance of AnnealedTSPSearchPlanner

Parameters:

searchArea - geographic area that is to be searched

S -

PD -

startPosit - double[2] defining the vehicle's position at the beginning of the search

pointFocus - set to true if the vehicle is to start the search at the region's center

AnnealedTSPSearchPlanner

public AnnealedTSPSearchPlanner(GeoArea searchArea,
                                double S,
                                double PD,
                                double[] startPosit)

Creates a new instance of AnnealedTSPSearchPlanner

Parameters:

searchArea - geographic area that is to be searched

S -

PD -

startPosit - double[2] defining the vehicle's position at the beginning of the search

Method Detail

getPSwitch

protected double getPSwitch(double d0,
                            double d1,
                            double t)

Computes the probability that a switch of path waypoints is conducted

Parameters:

d0 - the distance of the original path

d1 - the distance of the path if the waypoints are switched

t - the current value of t

Returns:

probability value

incrementallyImprove

protected void incrementallyImprove()

Uses pairwise comparison of array elements to incrementally improve a proposed traveling salesman problem solution. The algorithm continues until no pairwise swap will improve the solution.

Overrides:

incrementallyImprove in class TSPSearchPlanner

run

public void run()

Implements the Runnable interface

Specified by:

run in interface Runnable

Overrides:

run in class TSPSearchPlanner