Research Article
An Application of Self-Organizing Map for Multirobot Multigoal Path Planning with Minmax Objective
| Problem | [m] | GENIUS-quality | GENIUS-fast | SOM-nn | SOM-cc | PDM | PDB | [s] | PDM | PDB | [s] | PDM | PDB | [s] | PDM | PDB | [s] |
| dense4 | 69.3 | 3.77 | 0.41 | 110.3 | 8.88 | 2.99 | 1.6 | 11.99 | 1.83 | 4.3 | 13.43 | 0.00 | 3.8 | potholes2 | 58.3 | 3.03 | 0.00 | 185.1 | 7.44 | 3.38 | 1.9 | 7.23 | 0.76 | 6.1 | 11.58 | 3.22 | 5.6 | m31 | 14.8 | 4.65 | 0.00 | 210.5 | 8.95 | 2.92 | 2.3 | 9.68 | 0.02 | 7.3 | 9.42 | 0.76 | 6.4 | | 138.5 | 5.35 | 2.13 | 232.1 | 9.48 | 2.80 | 2.7 | 10.31 | 0.00 | 7.6 | 8.06 | 1.23 | 6.9 | | 153.6 | 3.10 | 0.00 | 271.2 | 7.57 | 1.32 | 3.0 | 16.58 | 5.10 | 7.9 | 12.65 | 1.28 | 6.9 | | 80.5 | 5.88 | 0.00 | 282.9 | 11.22 | 6.12 | 3.2 | 18.65 | 15.86 | 8.4 | 14.37 | 1.54 | 7.9 | | 77.8 | 5.06 | 1.21 | 332.6 | 11.50 | 5.56 | 3.0 | 5.97 | 0.19 | 8.7 | 6.45 | 0.00 | 7.7 | | 281.4 | 4.45 | 0.00 | 575.0 | 10.61 | 2.58 | 5.5 | 10.99 | 6.50 | 9.8 | 10.15 | 2.57 | 8.9 | | 129.0 | 10.22 | 0.00 | 1 326.4 | 20.07 | 7.36 | 13.1 | 8.89 | 3.33 | 16.8 | 6.06 | 3.29 | 16.1 | | 344.3 | 10.35 | 1.91 | 1 635.5 | 16.70 | 6.97 | 18.2 | 6.43 | 0.00 | 58.1 | 3.81 | 0.08 | 52.8 | | 345.4 | 10.94 | 0.00 | 1 921.4 | 18.67 | 9.74 | 17.5 | 16.22 | 11.13 | 59.1 | 13.95 | 5.25 | 53.1 | | 97.9 | 5.18 | 3.78 | 5 961.2 | 10.62 | 4.85 | 61.5 | 6.87 | 1.22 | 108.5 | 6.96 | 0.00 | 104.4 | | 133.0 | 3.89 | 0.00 | 8 397.0 | 12.77 | 9.10 | 86.8 | 12.78 | 7.01 | 184.3 | 8.93 | 3.62 | 172.4 | | 130.3 | 4.67 | 1.95 | 7 978.1 | 13.40 | 7.91 | 94.5 | 5.11 | 0.00 | 171.9 | 4.27 | 0.05 | 165.5 | | 338.7 | 5.96 | 0.00 | 15 727.8 | 13.45 | 3.49 | 224.5 | 4.98 | 2.31 | 163.3 | 5.95 | 2.27 | 154.7 | | 462.9 | 10.90 | 6.57 | 19 237.8 | 19.22 | 11.23 | 281.8 | 13.35 | 2.57 | 627.4 | 7.96 | 0.00 | 594.0 | | 478.2 | 10.18 | 4.88 | 24 803.6 | 16.85 | 10.33 | 411.6 | 4.40 | 0.91 | 625.6 | 3.32 | 0.00 | 604.1 | | 202.4 | 6.00 | 0.13 | 32 541.3 | 14.00 | 7.31 | 459.6 | 16.97 | 5.05 | 310.3 | 6.71 | 0.00 | 296.2 |
|
|