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

  • Jan Faigl
  • Libor Přeučil
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6791)


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.


Short Path Mobile Robot Travel Salesman Problem Travel Salesman Problem Route Problem 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Jan Faigl
    • 1
  • Libor Přeučil
    • 1
  1. 1.Department of CyberneticsCzech Technical University in PragueCzech Republic

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