The Orbiting Dubins Traveling Salesman Problem (ODTSP) is to plan a minimum-time tour for a Dubins vehicle model to inspect a set of targets in the plane by orbiting each target along a circular arc. This problem arises in underwater minehunting, where targets are mine-like objects on the sea bottom that are inspected by a sonar-equipped underwater vehicle. Each orbit subtends a prescribed angle so that the target’s acoustic response is measured from a variety of target-sensor relative geometries to aid in classifying it. ODTSP tours consist of circular-arc orbits joined by Dubins paths, and the optimization problem is to partition the set of targets into orbits and determine the position, radius, direction, and vehicle entry angle of each. Algorithms are presented for the restricted case, where each orbit inspects a single target (only), and the general case, where orbits inspect multiple targets. The approach is facilitated by analytical conditions that identify admissible clusters of targets as cliques of a disk graph. The ODTSP is extended to consider path planning in the presence of a steady uniform current.

轨道杜宾斯旅行推销员问题（ODTSP）将计划杜宾斯车辆模型的最短行程，以通过沿圆弧绕行每个目标来检查飞机中的一组目标。这个问题出现在水下探雷中，目标是位于海底的类雷物体，由配备声纳的水下车辆检查。每个轨道都具有规定的角度，因此可以根据各种目标传感器的相对几何形状测量目标的声学响应，以帮助对其进行分类。ODTSP巡回旅程由杜宾斯路径连接的圆弧轨道组成，最优化的问题是将目标组划分为轨道，并确定每个轨道的位置，半径，方向和车辆进入角度。提出了针对受限情况的算法，其中每个轨道仅检查一个目标，通常情况下，轨道检查多个目标。该分析条件通过将目标的可接受集群识别为磁盘图的集群的分析条件得到了促进。ODTSP扩展为考虑在稳定的均匀电流存在下的路径规划。