Research Article
An Application of Self-Organizing Map for Multirobot Multigoal Path Planning with Minmax Objective
Table 4
Overall performance of the SOM in the MTSP and variants of the ring length determination.
(a) Problem set middle |
| | SOM-nn | SOM-cc | LR | CQ | CER | LR | CQ | CER | TR |
| 2 | 1.08 | 0.07 | 1.01 | 1.06 | 0.05 | 1.01 | 0.89 | 3 | 1.11 | 0.12 | 0.98 | 1.09 | 0.11 | 0.98 | 0.91 | 4 | 1.12 | 0.14 | 0.95 | 1.11 | 0.13 | 0.96 | 0.91 | 5 | 1.17 | 0.20 | 0.94 | 1.14 | 0.16 | 0.94 | 0.92 |
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(b) Problem set large |
| | SOM-nn | SOM-cc | LR | CQ | CER | LR | CQ | CER | TR |
| 2 | 1.05 | 0.05 | 1.00 | 1.03 | 0.04 | 0.99 | 0.94 | 3 | 1.07 | 0.09 | 0.96 | 1.04 | 0.07 | 0.97 | 0.95 | 4 | 1.09 | 0.12 | 0.94 | 1.06 | 0.11 | 0.94 | 0.96 | 5 | 1.09 | 0.16 | 0.91 | 1.05 | 0.12 | 0.91 | 0.96 |
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