/ &

:
.

, 2013


/ &

.
:
.
27 2013

..

.
.

.
.

N.
.

, 2013

..
.

Copyright . , 2013.
. All rights reserved.
, ,
, . ,
, ,
.
.

.

,
,
.

.
.


.

.


/ .

, ,
, , ,

ABSTRACT

In this thesis, at short, we present the Travelling Salesman Problem with

approximations algorithms, some practical applications and related problems of
the main problem.
A travelling salesman wants to visit each of a set of towns exactly once
starting from and returning to his home town. One of his problems is to find the
shortest such trip. We present a self-contained introduction into algorithmic and
computational aspects of the TSP along with their theoretical prerequisites as
seen from the point of view of an operations researcher who wants to solve
practical instances.
This thesis is intended to be a guideline of the reader confronted with the
question of how to attack a TSP instance depending on its size, its structural
properties. Theoretical results are presented in a form which make clear their
importance in the design of algorithms for approximate but provably good, and
optimal solutions of the TSP.

KEY WORDS
Travelling Salesman Problem, TSP, Related Problems, Practical Applications,
Approximations Algorithms, Heuristics

, ,
,
. , ,
.


.

2013, .

.............................................................................................................................. 9

1.
1.1.

............................................................................... 9

1.2.

...................................................................................................................... 14

1.2.1.

.............................................................. 14

1.2.2.

...................................................................... 25

........................................................................... 33

2.
2.1.

....................................................................................................... 33

2.2.

......................................................................... 36

2.3.

.................................................................................................................... 37

2.3.1.

TSP .............................................................................. 37

2.3.2.

TSP ..................................................................................................... 38

2.3.3.

Hamilton H-Hamilton ...................................................................... 39

2.3.4.

TSP (aTSP) .................................................................................. 39

2.3.5.

TSP (mTSP) .................................................................................. 40

2.3.6.

........................................................................... 40

2.3.7.

Hamilton ...................................... 42

2.3.8.

.... 43

............................................................................................. 44

2.4.

2.4.1.

TSP .............................. 44

I.

.................................................................. 44

II.

X-Ray.......................................................................................... 45

III.

................................... 45

IV.

......................................................... 46

V.

........................................................................................... 46

VI.

..................... 47

VII.

..................................................................................... 47

VIII.

PCB...................................................... 48

IX.

................................................................. 49

2.4.2.

mTSP .......................... 49

 .
2.4.2.1.

......................................................................................... 49

2.4.2.2.

.................................................................. 51

2.4.2.3.

VRP (Vehicle Route Problem) ................................................ 52

TSP mTSP ........................................................ 55

3.

3.1.

TSP............................................. 55

3.2.

aTSP .......................................... 56

3.3.

mTSP ......................................... 56

3.3.1.

56

3.3.2.

Laporte Nobert ............................................................... 58

3.3.2.1.

Laporte Nobert mTSP............ 58

3.3.2.2.

Laporte Nobert mTSP ........... 59

................................................................................................... 61

4.

4.1.

4.1.1.

......................................................................... 63

4.1.2.

- ................................................................... 66

4.1.3.

............................................ 68

4.1.4.

..................................................................................... 72

4.2.

5.

.................................................................................................. 63

..................................................................................................... 74

4.2.1.

wo-Opt .............................................................................................. 74

4.2.2.

3-Opt ...................................................................... 78

4.2.3.

Lin-Kernighan ................................................................... 80

....................................................................................................................... 85


1.

1.1.

(..)
,
.
( , ) .
,
, ,
.
(..).
(dynamic programming),
1950 Richard Bellman

.
Bellman .. ,
..:
. Bellman
.
(dynamic) Bellman

(programming)
- (

, ).
,
.
, ..
,
. ..
,

.. .

 .
,
,
... ,
,
..
..
,
, ,
. ..
.
..
. ,

..

:
1. .. () ,
( ).
.


.
2.
.

.


.

.
3. ,

10


..
1.1.. n ,
sn xn.
sn .
sn xn,
,
. xn
,
(return function) , fn(sn , xn)
sn+1.
sn xn , sn+1
n n + 1 .
..,
, Bellman,
:
,

.

1.1

11

 .
4. ,

( ).
..
,
.
( )
.

, ,
.

,
, .
,
. ,
..,
,
.
5. ..
.
6. (recursive
relationship),
n,

n + 1.
.

( )
H

{ (

)}

, sn

xn.

12



..,
( 1.1.), .
,
,

(n=1).

...
:
1. -
2.
3.
4.
5.
..

.

1.1

13

 .
1.2.

1.2.1.
..
( )
. ,
, ,
-1.

, ,
,
.
( )
. ..
,
, .
.

1.2

14


( ) San Francisco
(S.F.) New York (..). ,
1.2.
- .
( 1.2),
S.F. ..

,
S.F.
N.Y.. ,
San Francisco Denver Dallas Atlanta New York
1274 + 874 + 779 + 885 = 3812 .
18
(=2x3x3)
. ,
, ,
, .
,
.

. , S.F.
, ,
, Denver Phoenix.
, , S.F. 1274 755 . ,
, .
:
;
,
Denver Phoenix N.Y.
1274 755
, .
, ,
,

15

 .
S.F. N.Y. ,
Denver .. Phoenix
N.Y..
, Denver Phoenix .
S.F.
,
,

Omaha, Oklahoma Dallas, ,

Columbus, Nashville Atlanta . ,

()
..
S.F.,
, .

1.3..
.

1.3

16


3 ,
..
1.3.
.,
. :
Columbus = 535
Nashville

= 887

Atlanta

= 885

1.3..
, . ,
..
.
, Omaha, Oklahoma
Dallas, 2 .. Omaha,
Columbus, Nashville Atlanta.
Columbus, ..
798 + 535, Omaha
Columbus Columbus.
Nashville Atlanta
751 + 887 994 + 885.

3 .
:

Omaha = min [

= min [1333, 1638, 1879]

= 1333
Omaha
Columbus. 1.3.
Oklahoma Dallas.

17

 .
:
Oklahoma = min [

= min [1448, 1570, 1739]

= 1448
Oklahoma
Columbus. Dallas :
Dallas = min [

= min [1575, 1551, 1664] = 1551

Nashville.
Denver Phoenix.
3 .. Denver :
Denver = min [

= min [1871, 2114, 2425] = 1871

Omaha. Phoenix :
Phoenix = min [

= min [2775, 2450, 2634] = 2450

Oklahoma. . 1.3.
, S.F.
Denver Phoenix :
San Francisco = min [

= min [3145, 3205] = 3145

Denver. , ,
S.F. N.Y. 3145 .
1.4.

San Francisco Denver Omaha Columbus New York
.

18

1.4

. ,
...
,
.
1.4, . ,
San Francisco 1, Denver Phoenix
2, Omaha, Oklahoma Dallas 3,
Columbus, Nashville Atlanta 4
New York 5. 1.5.

1.5

19

 .
..,
. ,
, . (
). ,
. ( ,
).
, ,
.

. ,

. , 1
, San Francisco, 2 2
, Denver Phoenix, 3
Omaha, Oklahoma Dallas 3 ,
4 3 3 5
, New York. , k
, k=1,2,3,4,5,
k-1 San Francisco.
,
.

,
. , ,

.
, ..


.
,
.
, , Columbus,

20


Nashville Atlanta 4,
,
San Francisco, 1.
.
,
.
. ,
( ) .

i- k (i, k). ,
San Francisco (1, 1), Denver o (1, 2),
Phoenix o (2, 2), . 1.6.
, d[(i, k), (j, k+1)]
(i, k) (j, k+1), i j
k k+1, .

1.6
, d[(1, 1),(1, 2)] = 1274, d[(1,
1),(2, 2)] = 755, d[(1, 2),(1, 3)] = 538, ... ,
d[(i, k),(j,k+1)]
j (. j) i
k. , Vk(i)

21

 .
(i, k). , Vk(i)
, ,
.
, (i, k), i k
.
(i, k),
.
j,

(.

) (i, k) (. (1, 5)),

(i, k) (j, k + 1)
(j, k +1) . ,
, " j",
""
, d[(i, k), (j, k + 1)],
(j, k + 1) , Vk+1(j).
, Vk+1(i)

(i, k).
:
()

{ [(

)(

)]

( )}

(
j) i k.
,
(i,k)=(2,3), Oklahoma City. , j=1,
[(

)(

)]

()

( ), j=3 [(
( )

{ [(

)(

)]

[(

)(

)(

)]

( ) [(

{
{

)]

( ), j=2 [(

)(

)]

( ).
)(

)]

( ) [(

)(

)]

( )}

}
}

1448 1.

22


Oklahoma. j
[(

)(

)]

( ),

Vk(i).
,

( )

( )

( )

.
,

( )

( 1.3
New York),
New York, .

,
. :
[(

)(

)]

()
()

()

j=1

j=2

j=3

798 + 535

751 + 887

994 + 885

1333

913 + 535

683 + 887

854 + 885

1448

1040 + 535

664 + 887

779 + 885

1551

3.
3 [(

)(

)]

()

i j (. ). 5

( ) i,

. ,
i,

( )

( ).

, 2.
[(

)(

)]

()
()

j=1

j=2

j=3

538 + 1333

666 + 1448

874 + 1551

1871

1442 + 1333 1002 + 1448 1038 + 1551

2450

2 2 .

23

()

 .
1, ,
:
[(

)(

)]

()

j=1

j=2

1274 + 1871

755 + 2450

( )

()
3145

()
1

San Francisco New York 3145 . ,

. ,
1,

( )

S.F. Denver, Denver

1 2,

( ).

( )

Denver Omaha. , Omaha,

1 3,

( )

Omaha Columbus. , Columbus,

New York
.

1.4.

24


1.2.2.
.
, 1
( ),
.

,
, j, ,
,
, .
.
1 ( 1)
9 ( 9), 1.7.
.
2 3.
4, 5 6 7 8.

1.7.
1
9 3 .

1.7

25

.

1:

2 3
2:

4, 5 6
3:
4:

7 8
. 9

.
. , 4,
7 8. 3
4, 5 6.
2 2 3,
, 1.

1
2
3
4

1
2,3
4,5,6
7,8

. ,
. ,
:

1
2
3
4

2,3
4,5,6
7,8
9

26




..
, , SN
, DN,
fN(SN,DN).
, fN(SN,DN)
:
fN(SN,DN) = SN
() DN
SN.

SN, .
fN(SN,DN)
SN .
:

f*N(SN) = min { fN(SN,DN)}

SN
(SN,DN)
SN DN :
fN(SN,DN) = (SN,DN) + f*N+1(SN+1)

,
.


+1, ,

.

27

 .
4
4 .
7 8.
, 9. 1.2.1

() 4
1.2.1

()
S4

7
8

D4

S5

(S4,D4)

f*5(S5)

f4(S4,D4)= (S4,D4)+ f*5(S5)

[7,9]
[8,9]

9
9

5
4

0
0

5 f*4(7)
4 f*4(8)

f*4(7) f*4(8),
.
3
3,
: 4 5
6.
. 7 8.
4. 4 .
[4,7] [4,8].
[4,7], 4
4 7
7
1.2.1.

[4,8]. , 4
[4,7]
11. [4,8] 14.
4 [4,7]
11

28


f*3(4).
,
5 6. 1.2.2. .
1.2.2.

D3

S4

(S3,D3)

f*4(S4)

f3(S3,D3)= (S3,D3)+ f*4(S4)

4
4

[4,7]
[4,8]

7
8

6
10

5
4

11 f*3(4)
14

5
5

[5,7]
[5,8]

7
8

12
8

5
4

17
12 f*3(5)

6
6

[6,7]
[6,8]

7
8

14
15

5
4

19 f*3(6)
19 f*3(6)

()
S3

1.2.2.
3 :
4: 7, 11
5: 8, 12
6:

7 8,

19.
2
2
2. 2 3.
:
2, 4 5 6.
3, 5 6.
2. 2
, [2,4]
[2,5] [2,6]. [2,4].
2
2 4
4 1.2.2.

29

 .

[2,5] [2,6].
1.2.3 .
2, 2
[2,5]
22
f*2(2).

2 , 3.
1.2.3.
1.2.3

D2

S3

(S2,D2)

f*3(S3)

f2(S2,D2)= (S2,D2)+ f*3(S3)

2
2
2

[2,4]
[2,5]
[2,6]

4
5
6

15
10
12

11
12
19

26
22 f*2(2)
31

3
3

[2,4]
[2,5]

5
6

15
7

12
19

27
26 f*2(3)

()
S2

,
2 22
3 26.
1

, 1. 1,
2 3. [1,2],
1 1
2 2
1.2.3.

[1,3]. 1.2.4 .

30


1.2.4

()
S1

1
1

D1

S2

(S1,D1)

f*2(S2)

f1(S1,D1)= (S1,D1)+ f*2(S2)

[1,2]
[1,3]

2
3

10
7

22
26

32 f*2(3)
33

1,
. 1.2.4 1 ,

[1,2]. 2
2. 1.2.3 2
. 2,

[2,5]. 5.
3 , 1.2.2
5 3
[5,8]. , 4 8,
[8,9]. ,
1-2-5-8-9
32. 1.8, .

1.8

31

32


2.

() -
-

.
, ,
,


. , ,
.
,

.
(Traveling Salesman Problem TSP)

2.1.

TSP .

1832
,
. 19 TSP
William Rowan Hamilton Thomas
Kirkman. Hamilton Icosian Puzzle (
),
, ,

. Hamilton
. Hamilton

.

33

2.1 (): Hamilton

2.1 (): Icosian Game Hamilton

TSP
1930 Karl Menger
. Hasslier Whitney
Princeton TSP . 1950 1960,

. George Dantzig, Delbert Ray
Fulkerson Selmer Johnson RAND Santa Monica,

. SP
, .

, Branch-and-ound1
(&), TSP
Dantzig, Fulkerson Johnson.

. Richard Karp, 1972,
Hamilton NP2- (
), TSP P-hard
.
1

,
.
, ,
.
2
,
. NP
-
Turing . Turing
. Turing
.

34

SP .
&,
Lagrange3, Lin-Kernighan,

.
1970 1980,
Grotschel, Padberg, Rinaldi ,
2392 , cuttingplanes4 B&B. 1990, Applegate, Bixby, Chvatal
Cook Concorde
. Gerhard Reinelt 1991
TSPLIB,

. 2005, Cook ,
33810 ,
,
. ,
1%
.
TSP

,
, ,
. TSP
, ,
. , , TSP
.
3

4
,

cuts.

35

 .

.
TSP
.

2.2.

TSP -5 6

, ,

.
,

.
7 . -,
(
),
.
(

| |

)
|

( ) .

, (

).

).

, 8

(Symmetric TSP sTSP)

Hamilton ( )

- .
,
7

8
,
.
6

36


- ( )
.
sTSP.
,
2
. ,
,

.
SP

,
Hamilton

P- .

Hamilton
TSP, (

2.3.

,
.

TSP .
TSP
.
.

TSP .

.
,

, .
2.3.1. TSP

Hamilton

),

. ,

37

 .
.
TSP.

.
M
,

, TSP

.
,
.
Hamilton.
Hamilton G
. .


.

. TSP.
2.3.2. TSP
TSP n ,

(

),

. G

, . TSP

.

( ),
, .
G
.
.
.

38



.
TSP

Hamilton.
TSP TSP :
(

TSP

Hamilton

),
c

G. TSP

. TSP

G
G.
2.3.3. Hamilton H-Hamilton
Hamilton Hamilton,
,
-Hamilton Hamilton,

.

) Hamilton

-Hamilton, TSP
1 2.
Hamilton ,
G Hamilton -Hamilton.

, G

-Hamilton, Hamilton. , ,

, G

-Hamilton.
2.3.4. TSP (aTSP)

TSP (aTSP)
Hamilton .

39

),

 .
aTSP .

.
{
{(

}
)|

)|(

{(

}.

,
(

Hamilton D

Hamilton G

,
Hamilton G. ,
Hamilton D.
2.3.5. TSP (mTSP)
m

( ).

TSP

. (

),

),

2.3.6.

. (rural postman

problem) ,

(rural postman tour)

. TSP

40

(Chinese postman
problem)
.

.
, NP-hard, TSP
.
.
2
(

) (

) (

. (
(

),

).

,
(

TSP .
G F.
{

( )}

( )

:
(

( ),
()

()

.
Hamilton
G.

.

41

 .
TSP,
.
2.3.7. Hamilton
(

).

Hamilton G

.
TSP :

( ).

Hamilton .

Hamilton.
)

. Hamilton
Hamilton

Hamilton

{ }

. Hamilton

.
,
0
.
TSP.

42


2.3.8.

Hamilton 1,

.
TSP. ,

. .

).

b:
b Hamilton;
.
b (

))

TSP.

Carpaneto, Martello & Toth

[1984].
,
TSP. ,
,
. ,

TSP TSP

.
.

. ,
, M .
(variable fixing
techniques)
. , ,

43

 .

TSP
.

2.4.

TSP,
.
.

.
2.4.1. TSP
I.

TSP

(printed circuit boards - PCB).

, (
) ,
.
. 2
,
. .
,
, ,
, .
,
TSP, ,

. 2

44


.
.
X-Ray

II.

TSP
[Bland & Shallcross, 1989, Dreissig & Uebach, 1990].

.
.
,

.
,
.
.

. ,
. ,

. TSP.

III.

Plante, Lowe Chandrasekaran

1987
.
-
.

.

( ,
, ).

TSP .

45

 .
IV.

.

. TSP .
.

.
TSP.
, Van Dal
[1992].
V.

Lenstra & Rinnoy Kan [1974].

.
Steiner ,
.
Hamilton
.

testbus.
,
, .

.
Hamilton
.

46

VI.

).

.
()
Hamilton.


.
. ,
,

.

.
TSP

.
,
.
TSP,
TSP
.

VII.

, 1 .


. ,

47

 .

.



. ,
,
.
TSP

(

). TSP

. TSP
.
VIII.

PCB
,

,
.
.
.

.
.
.


. .
( ) ,
,
.
TSP
.

48

IX.

,
(
, , ). ,

.

.
Hamilton (

)
.

2.4.2. mTSP
. ,
SP (mTSP),
TSP
mTSP
(Vehicle Route Problem VRP)
2.4.2.1.
mTSP

I.

mTSP

.
5
. 3
, 4, 6 8,
.

49

 .

. mTSP,
.
II.

1972 Angel ,
mTSP .

,
,


.
III.

1973 Svestka
Huckefeldt. ,

.
.
IV.

Gilbert Hofstra 1992 mTSP

.

. ,
mTSP
, .
V.

,

.
, 2000, Tang ,

50



.
.

VI.

.
mTSP

.

mTSP.

VII.

mTSP,
(Global
Navigation Satellite System GNSS). GNSS

,

.

. , ,
. ,
,
mTSP.
2.4.2.2.

mTSP, . mTSP

.

51

 .
. ,
mTSP ,

,
() .
.
,
.
,
-
. mTSP
. mTSP

. ,
.
,
,
, .
.
.

mTSP.
2.4.2.3.

VRP (Vehicle Route Problem)

, mTSP
VRP. , ole 1983


, mTSP. ,
mTSP,

VRP,

52



.
mTSP
VRP ,

.
mTSP VRP
. , , VRP
,
mTSP . , ,
mTSP,
VRP .

53

54


3. TSP mTSP
TSP
(

.
{(

} ,

}
(

{(

) .

. ,
(

) .

TSP

3.1.

Dantzig
TSP. 1
(

), ,

0. :

(3.1)

| |

| |

(
(

(3.2)
)

(3.3)
(3.4)

(3.2), (3.3) (3.4) ,

(degree

constraints),

(subtour elimination constraints)

(integrality constraints).

(3.2), (3.3)

55

| |

(3.5)

 .
3.2.

aTSP

Dantzig 1954,
TSP.
(

) 1

. :
(3.6)

| |

| |

(
(

3.3.

(3.7)

(3.8)

(3.9)

(3.10)

mTSP

mTSP. ,
. mSP

().

()

),

) ()

. C
.

.
3.3.1.

mTSP
.
:
{

56



mTSP

(3.11)

(3.12)

(3.13)

(3.14)

(3.15)

(SECs)
{

(3.16)

(3.13), (3.14) (3.16) , (3.11)

(3.12)

1 ( ). (3.12)
(3.11), (3.13) (3.14)
.

(3.15)

,
.
SECs mTSP .
:

| |

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(3.17)

57

{ }

(3.18)

 .
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S
.
.
3.3.2. Laporte Nobert
1980 Laporte Nobert 2 mTSP,
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:
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|
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(3.22)
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58


(3.19)
.
3.3.2.2.

Laporte Nobert mTSP

:
(3.25)

(3.26)
|
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59

60


4.

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62


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Hamilton

Hamilton

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Hamilton .
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63

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64


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66


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67

).

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68

Hamilton.
OBTAIN_CYCLE
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.
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[Prim, 1957], Hamilton
.

69

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Christofides

Hamilton (2)
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Hamilton. , TSP
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Clarke Wright 1964.
,
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.

Hamilton.
SAVINGS
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).

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72


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74


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2-OPT
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76


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77

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Hamilton
.
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(3-opt move).

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).

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78


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) .

k-opt

. , Rosenkrantz, Stears Lewis 1997

TSP

. ,

79

k-opt .
4.2.3. Lin-Kernighan

Lin Kernighan 1973.
. ,

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,
Lin Kernighan.


.


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84


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