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Description
  • This paper concerns a variant of the multi-goal path planning problem in which goals may be polygonal regions. The problem is to find a closed shortest path in a polygonal map such that all goals are visited. The proposed solution is based on a self-organizing map algorithm for the traveling salesman problem, which is extended to the polygonal goals. Neurons' weights are considered as nodes inside the polygonal domain and connected nodes represent a path that evolves according to the proposed adaptation rules. Performance of the rules is evaluated in a set of problems including an instance of the watchman route problem with restricted visibility range. Regarding the experimental results the proposed algorithm provides flexible approach to solve various NP-hard routing problems in polygonal maps.
  • This paper concerns a variant of the multi-goal path planning problem in which goals may be polygonal regions. The problem is to find a closed shortest path in a polygonal map such that all goals are visited. The proposed solution is based on a self-organizing map algorithm for the traveling salesman problem, which is extended to the polygonal goals. Neurons' weights are considered as nodes inside the polygonal domain and connected nodes represent a path that evolves according to the proposed adaptation rules. Performance of the rules is evaluated in a set of problems including an instance of the watchman route problem with restricted visibility range. Regarding the experimental results the proposed algorithm provides flexible approach to solve various NP-hard routing problems in polygonal maps. (en)
Title
  • A Multi-Goal Path Planning for Goal Regions in the Polygonal Domain
  • A Multi-Goal Path Planning for Goal Regions in the Polygonal Domain (en)
skos:prefLabel
  • A Multi-Goal Path Planning for Goal Regions in the Polygonal Domain
  • A Multi-Goal Path Planning for Goal Regions in the Polygonal Domain (en)
skos:notation
  • RIV/68407700:21230/11:00182178!RIV12-MSM-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(1M0567), S
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 183910
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/11:00182178
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Motion planning; rapidly exploring random trees (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [7DC29F318245]
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Faigl, Jan
  • Přeučil, Libor
  • Vonásek, Vojtěch
http://localhost/t...ganizacniJednotka
  • 21230
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