Unifying multi-goal path planning for autonomous data collection
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00225362" target="_blank" >RIV/68407700:21230/14:00225362 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/IROS.2014.6942967" target="_blank" >http://dx.doi.org/10.1109/IROS.2014.6942967</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2014.6942967" target="_blank" >10.1109/IROS.2014.6942967</a>
Alternative languages
Result language
angličtina
Original language name
Unifying multi-goal path planning for autonomous data collection
Original language description
In this paper, we propose a framework for solving variants of the multi-goal path planning problem with applications to autonomous data collection. Autonomous data collection requires optimizing the trajectory of a mobile vehicle to collect data from a number of stationary sensors in a known configuration. The proposed approach utilizes the self-organizing map (SOM) architecture to provide a unified solution to multi-goal path planning problems. Our approach applies to cases where the vehicle must movewithin a radius of a sensor to collect data and also where some sensors can be ignored due to a lower priority. We compare our proposed approach to state-of-the-art approximate solutions to variants of the Traveling Salesman Problem (TSP) for random deployments and in an underwater monitoring application domain. Our results demonstrate that the SOM approach outperforms combinatorial heuristic algorithms and also provides a unified approach for solving variants of the multi-goal path plan
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GP13-18316P" target="_blank" >GP13-18316P: Self-Organizing Maps for Multi-Goal Path Planning Tasks</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
ISBN
978-1-4799-6934-0
ISSN
2153-0858
e-ISSN
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Number of pages
6
Pages from-to
2937-2942
Publisher name
IEEE
Place of publication
Piscataway
Event location
Chicago
Event date
Sep 14, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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