A Multi-Goal Path Planning for Goal Regions in the Polygonal Domain
نویسندگان
چکیده
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 inside the polygonal domain and connected nodes represent a path that evolves according to the proposed adaptation rules. Performance of the rules is evaluated in a set of problems including an instance of the watchman route problem with restricted visibility range. Regarding the experimental results the proposed algorithm provides flexible approach to solve various NP-hard routing problems in polygonal maps.
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