Self-Organizing Map for the Multi-Goal Path Planning with Polygonal Goals

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00181909" target="_blank" >RIV/68407700:21230/11:00181909 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.springerlink.com/content/05570w0vnq831416/" target="_blank" >http://www.springerlink.com/content/05570w0vnq831416/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-642-21735-7_11" target="_blank" >10.1007/978-3-642-21735-7_11</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Self-Organizing Map for the Multi-Goal Path Planning with Polygonal Goals

Popis výsledku v původním jazyce

This paper presents a self-organizing map approach for the multi-goal path planning problem with polygonal goals. The problem is to find a shortest closed collision free path for a mobile robot operating in a planar environment represented by a polygonalmap W. The requested path has to visit a given set of areas where the robot takes measurements in order to find an object of interest. Neurons' weights are considered as points in W and the solution is found as approximate shortest paths connecting thepoints (weights). The proposed self-organizing map has less number of parameters than a previous approach based on the self-organizing map for the traveling salesman problem. Moreover, the proposed algorithm provides better solutions within less computational time for problems with high number of polygonal goals.

Název v anglickém jazyce

Self-Organizing Map for the Multi-Goal Path Planning with Polygonal Goals

Popis výsledku anglicky

This paper presents a self-organizing map approach for the multi-goal path planning problem with polygonal goals. The problem is to find a shortest closed collision free path for a mobile robot operating in a planar environment represented by a polygonalmap W. The requested path has to visit a given set of areas where the robot takes measurements in order to find an object of interest. Neurons' weights are considered as points in W and the solution is found as approximate shortest paths connecting thepoints (weights). The proposed self-organizing map has less number of parameters than a previous approach based on the self-organizing map for the traveling salesman problem. Moreover, the proposed algorithm provides better solutions within less computational time for problems with high number of polygonal goals.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

<a href="/cs/project/2C06005" target="_blank" >2C06005: Systém pro robotickou tele-výuku</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2011

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of Artificial Neural Networks and Machine Learning

ISBN

978-3-642-21734-0

ISSN

—

e-ISSN

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Počet stran výsledku

8

Strana od-do

85-92

Název nakladatele

Springer

Místo vydání

Heidelberg

Místo konání akce

Espoo

Datum konání akce

14. 6. 2011

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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