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

(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