Kinematic Orienteering Problem With Time-Optimal Trajectories for Multirotor UAVs

In many unmanned aerial vehicle (UAV) applications for surveillance and data collection, it is not possible to reach all requested locations due the given maximum flight time. Hence, must be prioritized problem of selecting most important modeled as an Orienteering Problem (OP). To fully exploit kinematic properties UAV in such scenarios, we combine OP with generation time-optimal trajectories bounds on velocity acceleration. We define resulting Kinematic (KOP) propose exact mixed-integer formulation together a Large Neighborhood Search (LNS) heuristic solution method. demonstrate effectiveness our approach based orienteering instances from literature benchmark against optimal solutions Dubins (DOP) state-of-the-art. Additionally, show by simulation that can tracked precisely modern MPC-based controller. Since state-of-the-art generating multiple dimensions generally correct, further present improved analytical method trajectory generation.