Multi-Goal Path Planning Using Self-Organizing Map with Navigation Functions
نویسندگان
چکیده
This paper presents a combination of Self-Organizing Map (SOM) approach and navigation functions in the Traveling Salesman Problem with segment goals where paths between goals have to respect obstacles. Hence, the problem is called multi-goal path planning. The problem arises from the inspection planning, where a path from which all points of the given polygonal environment have to be “seen”. The proposed approach demonstrates applicability of SOM principles in such problems in which SOM has not yet been applied.
منابع مشابه
A Multi-Goal Path Planning for Goal Regions in the Polygonal Domain
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 ins...
متن کاملA self-organizing representation of sensor space for mobile robot navigation
|The paper describes a sensor based navigation scheme which makes use of a global representation of the environment by means of a self-organizing map or Kohonen network. In contrast to existing methods for self-organizing environment representation , this discrete map is not represented in the world domain or in the connguration space of the vehicle, but in the sensor domain. The map is built b...
متن کاملBased on A* and Q-Learning Search and Rescue Robot Navigation
For the search and rescue robot navigation in unknown environment, a bionic self-learning algorithm based on A* and Q-Learning is put forward. The algorithm utilizes the Growing Self-organizing Map (GSOM) to build the environment topology cognitive map. The heuristic search A* algorithm is used the global path planning. When the local environment changes, Q-Learning is used the local path plann...
متن کاملIndoor Robot Navigation With Single Camera Vision
In the large area of autonomous robot navigation, encompassing map creation, path planning, and self-localization, we develop the idea of a simple autonomous agent relying only on vision information. Our integrated navigation system replicates some functions of natural systems, as using little a-priori knowledge, on board computation, no omni-directional vision. Since our goal is essentially to...
متن کاملSelf-Organizing Incremental Associative Memory-Based Robot Navigation
This paper presents a new incremental approach for robot navigation using associative memory. We defined the association as node→action→node where node is the robot position and action is the action of a robot (i.e., orientation, direction). These associations are used for path planning by retrieving a sequence of path fragments (in form of (node→action→node) → (node→action→node) →· · ·) starti...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2011