Multi-Goal Path Planning Using Self-Organizing Map with Navigation Functions
Jan Faigl, Jan Mačák · 2011
Abstract. 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. 1