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courses:b4m36uir:labs:lab07 [2019/11/10 23:22]
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courses:b4m36uir:labs:lab07 [2019/11/10 23:28]
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===
Solving TSPN with Self-organizing Map
===
+
====
Dubins Vehicle
==
==
+
[[https://cw.fel.cvut.cz/wiki/_media/courses/b4m36uir/lectures/b4m36uir-lec06-slides.pdf|Lecture 06]]
-
Slide 15 from the [[https://cw.fel.cvut.cz/wiki/_media/courses/b4m36uir/lectures/b4m36uir-lec05-slides.pdf|Lecture 05]]:
+
\\
-
{{
:courses
:
b4m36uir
:labs:som
.
png?700
|
}}
+
==== Decoupled Approach ====
+
Slide 36 in [[https
:
//cw.fel.cvut.cz/wiki/_media/
courses
/
b4m36uir
/lectures/b4m36uir-lec06-slides
.
pdf
|
Lecture 06]]
-
Utilize 'alternate goal' concept for solving
TSP
with neighborhoods (TSPN)
.
In
each
epoch
,
the neurons are adapted towards the goals which inhibits them
.
But, in
the
TSPN,
the
neurons are adapted to the closes point in the specific goal neighborhood. Therefore
,
this concept enables to find shorter solutions, see
the
right image and
the
following GIF with SOM evolution.
+
The decoupled approach comprises the following basic steps
-
+
- Estimate sequence of visits by Euclidean
TSP
connecting centers of the regions
.
-
{{:courses:b4m36uir:labs:som_tspn_orig.png?400|}}
+
- For
each
region
,
sample boundary points and heading angles
.
-
{{:courses:b4m36uir:labs:som_tspn.png?400|}}
+
- Find
the
shortest feasible tour comprising Dubins maneuvers connecting
the
regions
,
where
the
sequence of visits is estimated from
the
ETSP
.
-
+
-
Click on the following image to see the SOM evolution in GIF.
+
-
+
-
{{:courses:b4m36uir:labs:myimage
.
gif?300|}}
+
courses/b4m36uir/labs/lab07.txt
· Last modified: 2019/11/10 23:28 by
pragrmi1