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- W125240472 abstract "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 polygonal map ${cal W}$ . 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 ${cal W}$ and the solution is found as approximate shortest paths connecting the points (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." @default.
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- W125240472 date "2011-01-01" @default.
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- W125240472 title "Self-Organizing Map for the Multi-Goal Path Planning with Polygonal Goals" @default.
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- W125240472 doi "https://doi.org/10.1007/978-3-642-21735-7_11" @default.
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