Generating optimal path by level set approach for a mobile robot moving in static/dynamic environments

According to the analogy between the mobile robot navigation path and the heat transferring path under steady state, the robot path planning problem during navigation is converted into identify the heat transferring path that minimizes the thermal compliance across the analysis domain. A new path planning approach which combines the concept of growth simulation and level set based heat conduction topology optimization framework is adopted to determine the heat transferring path. By introducing the concept of growth simulation, the proposed approach could calculate a few steps of the navigation path, which is of great significance for online reactive navigation. The proposed approach could avoid local minima and search for the optimal growth orientation freely without constraints from background mesh since the inherent characteristics of heat conduction and the level set approach, respectively. A new reactive navigation algorithm based on the proposed path planning approach and the concept of temporarily safe path is proposed to navigate the mobile robot from the start point to the goal point in unknown dynamic environment with static and dynamic obstacles. Diverse simulation cases are carried to illustrate the effectiveness of the reactive navigation algorithm.     

A preference-based multi-objective evolutionary algorithm R-NSGA-II with stochastic local search

Incorporation of a decision maker’s preferences into multi-objective evolutionary algorithms has become a relevant trend during the last decade, and several preference-based evolutionary algorithms have been proposed in the literature. Our research is focused on improvement of a well-known preference-based evolutionary algorithm R-NSGA-II by incorporating a local search strategy based on a single agent stochastic approach. The proposed memetic algorithm has been experimentally evaluated by solving a set of well-known multi-objective optimization benchmark problems. It has been experimentally shown that incorporation of the local search strategy has a positive impact to the quality of the algorithm in the sense of the precision and distribution evenness of approximation.     

Navigation of underwater robot based on dynamically adaptive harmony search algorithm

The current research work has employed an evolutionary based novel navigational strategy to trace the collision free near optimal path for underwater robot in a three-dimensional scenario. The population based harmony search algorithm has been dynamically adapted and used to search next global best pose for underwater robot while obstacle is identified near about robot’s current pose. Each pose is evaluated based on their respective value for objective function which incorporates features of path length minimization as well as obstacle avoidance. Dynamic adaptation of control parameters and new perturbation schemes for solution vectors of harmony search has been proposed to strengthen both exploitation and randomization ability of present search process in a balanced manner. Such adaptive tuning process has found to be more effective for avoiding early convergence during underwater motion in comparison with performances of other popular variants of Harmony Search. The proposed path planning method has also shown better navigational performance in comparison with improved version of ant colony optimization and heuristic potential field method for avoiding static obstacles of different shape and sizes during underwater motion. Simulation studies and corresponding experimental verification for three-dimensional navigation are performed to check the accuracy, robustness and efficiency of proposed dynamically adaptive harmony search algorithm.     

一种基于Dijkstra算法的机器人避障问题路径规划

移动机器人的避障问题是移动机器人控制领域的研究热点.针对给定的移动机器人避障问题,探讨了最短路径及最短时间路径的路径规划问题.对于最短路径问题,建立了简化的路径网格模型,将其抽象为由节点及边构成的两维图,再使用经典的Dijkstra算法获得可行的最短路径.对于最短时间路径问题,通过分析移动机器人弯道运行的速度曲线,基于几何方法得出了移动时间与过渡圆弧圆心之间严格的数学关系,此后借助MATLAB优化函数获得最佳的移动路径.算法可为类似机器人避障问题的解决提供借鉴.     

机器人路径规划算法及其应用

本文研究环境已知条件下的移动机器人路径规划问题,提出了一种基于人工神经网络的路径规划算法,所提算法可以规划出折线型的最短路径,并且计算简单,收敛速度快。将所提算法应用于机器人“Khepera“,通过模拟实验,表明所提算法有效。     

Memetic cooperative models for the tool switching problem

This work deals with memetic-computing agent-models based on the cooperative integration of search agents endowed with (possibly different) optimization strategies, in particular memetic algorithms. As a proof-of-concept of the model, we deploy it on the tool switching problem (ToSP), a hard combinatorial optimization problem that arises in the area of flexible manufacturing. The ToSP has been tackled by different algorithmic methods ranging from exact to heuristic methods (including local search meta-heuristics, population-based techniques and hybrids thereof, i.e., memetic algorithms). Here we consider an ample number of instances of this cooperative memetic model, whose agents are adapted to cope with this problem. A detailed experimental analysis shows that the meta-models promoting the cooperation among memetic algorithms provide the best overall results compared with their constituent parts (i.e., memetic algorithms and local search approaches). In addition, a parameter sensitivity analysis of the meta-models is developed in order to understand the interplay among the elements of the proposed topologies.     

Memetic Algorithms: The Polynomial Local Search Complexity Theory Perspective

In previous work (Krasnogor, . In: Studies on the Theory and Design Space of Memetic Algorithms. Ph.D. thesis, University of the West of England, Bristol, UK, 2002; Krasnogor and Smith, IEEE Trans Evol Algorithms 9(6):474–488, 2005) we develop a syntax-only classification of evolutionary algorithms, in particular so-called memetic algorithms (MAs). When “syntactic sugar” is added to our model, we are able to investigate the polynomial local search (PLS) complexity of memetic algorithms. In this paper we show the PLS-completeness of whole classes of problems that occur when memetic algorithms are applied to the travelling salesman problem using a range of mutation, crossover and local search operators. Our PLS-completeness results shed light on the worst case behaviour that can be expected of a memetic algorithm under these circumstances. Moreover, we point out in this paper that memetic algorithms for graph partitioning and maximum network flow (both with important practical applications) also give rise to PLS-complete problems.

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Path planning in formation and collision avoidance for multi-agent systems

This paper investigates, in a centralized manner, the motion planning problem for a team of unicycle-like mobile robots in a known environment. In particular, a multi-agent collision-free patrolling and formation control algorithm is presented, which combines outcomes of: (i) stability analysis of hybrid systems, (ii) algebraic geometry, and (iii) classical potential functions. The objective is achieved by designing a Lyapunov-based hybrid strategy that autonomously selects the navigation parameters. Tools borrowed from algebraic geometry are adopted to construct Lyapunov functions that guarantee the convergence to the desired formation and path, while classical potential functions are exploited to avoid collisions among agents and the fixed obstacles within the environment. The proposed navigation algorithm is tested in simulation and then validated by using the robots of a remote accessible robotic testbed.     

A multi-objective memetic algorithm based on decomposition for big optimization problems

When solving multi-objective optimization problems (MOPs) with big data, traditional multi-objective evolutionary algorithms (MOEAs) meet challenges because they demand high computational costs that cannot satisfy the demands of online data processing involving optimization. The gradient heuristic optimization methods show great potential in solving large scale numerical optimization problems with acceptable computational costs. However, some intrinsic limitations make them unsuitable for searching for the Pareto fronts. It is believed that the combination of these two types of methods can deal with big MOPs with less computational cost. The main contribution of this paper is that a multi-objective memetic algorithm based on decomposition for big optimization problems (MOMA/D-BigOpt) is proposed and a gradient-based local search operator is embedded in MOMA/D-BigOpt. In the experiments, MOMA/D-BigOpt is tested on the multi-objective big optimization problems with thousands of variables. We also combine the local search operator with other widely used MOEAs to verify its effectiveness. The experimental results show that the proposed algorithm outperforms MOEAs without the gradient heuristic local search operator.     

Balancing exploration and exploitation with adaptive variation for evolutionary multi-objective optimization

Although recent studies have shown that evolutionary algorithms are effective tools for solving multi-objective optimization problems, their performances are often bottlenecked by the suitability of the evolutionary operators with respect to the optimization problem at hand and their corresponding parametric settings. To adapt the search dynamic of evolutionary operation in multi-objective optimization, this paper proposes an adaptive variation operator that exploits the chromosomal structure of binary representation and synergizes the function of crossover and mutation. The overall search ability is deterministically tuned online to maintain a balance between extensive exploration and local fine-tuning at different stages of the evolutionary search. Also, the coordination between the two variation operators is achieved by means of an adaptive control that ensures an efficient exchange of information between the different chromosomal sub-structures throughout the evolutionary search. Extensive comparative studies with several representative variation operators are performed on different benchmark problems and significant algorithmic performance improvements in terms of proximity, uniformity and diversity are obtained with the incorporation of the proposed adaptive variation operator into the evolutionary multi-objective optimization process.     

Scheduling open shops with parallel machines to minimize total completion time

This paper explores scheduling a realistic variant of open shops with parallel machines per working stage. Since real production floors seldom employ a single machine for each operation, the regular open shop problem is very often in practice extended with a set of parallel machines at each stage. The purpose of duplicating machines in parallel is to either eliminate or to reduce the impact of bottleneck stages on the overall shop efficiency. The objective is to find the sequence which minimizes total completion times of jobs. We first formulate the problem as an effective mixed integer linear programming model, and then we employ memetic algorithms to solve the problem. We employ Taguchi method to evaluate the effects of different operators and parameters on the performance of memetic algorithm. To further enhance the memetic algorithm, we hybridize it with a simple form of simulated annealing as its local search engine. To assess the performance of the model and algorithms, we establish two computational experiments. The first one is small-sized instances by which the model and general performance of the algorithms are evaluated. The second one consists of large-sized instances by which we further evaluate the algorithms.     

Scale factor local search in differential evolution

This paper proposes the scale factor local search differential evolution (SFLSDE). The SFLSDE is a differential evolution (DE) based memetic algorithm which employs, within a self-adaptive scheme, two local search algorithms. These local search algorithms aim at detecting a value of the scale factor corresponding to an offspring with a high performance, while the generation is executed. The local search algorithms thus assist in the global search and generate offspring with high performance which are subsequently supposed to promote the generation of enhanced solutions within the evolutionary framework. Despite its simplicity, the proposed algorithm seems to have very good performance on various test problems. Numerical results are shown in order to justify the use of a double local search instead of a single search. In addition, the SFLSDE has been compared with a standard DE and three other modern DE based metaheuristic for a large and varied set of test problems. Numerical results are given for relatively low and high dimensional cases. A statistical analysis of the optimization results has been included in order to compare the results in terms of final solution detected and convergence speed. The efficiency of the proposed algorithm seems to be very high especially for large scale problems and complex fitness landscapes.     

A memetic Differential Evolution approach in noisy optimization

This paper proposes a memetic approach for solving complex optimization problems characterized by a noisy fitness function. The proposed approach aims at solving highly multivariate and multi-modal landscapes which are also affected by a pernicious noise. The proposed algorithm employs a Differential Evolution framework and combines within this three additional algorithmic components. A controlled randomization of scale factor and crossover rate are employed which should better handle uncertainties of the problem and generally enhance performance of the Differential Evolution. Two combined local search algorithms applied to the scale factor, during offspring generation, should enhance performance of the Differential Evolution framework in the case of multi-modal and high dimensional problems. An on-line statistical test aims at assuring that only strictly necessary samples are taken and that all pairwise selections are properly performed. The proposed algorithm has been tested on a various set of test problems and its behavior has been studied, dependent on the dimensionality and noise level. A comparative analysis with a standard Differential Evolution, a modern version of Differential Evolution employing randomization of the control parameters and four metaheuristics tailored to optimization in a noisy environment has been carried out. One of these metaheuristics is a classical algorithm for noisy optimization while the other three are modern Differential Evolution based algorithms for noisy optimization which well represent the state-of-the-art in the field. Numerical results show that the proposed memetic approach is an efficient and robust alternative for various and complex multivariate noisy problems and can be exported to real-world problems affected by a noise whose distribution can be approximated by a Gaussian distribution.     

Multi-wave algorithms for metaheuristic optimization

We propose new iterated improvement neighborhood search algorithms for metaheuristic optimization by exploiting notions of conditional influence within a strategic oscillation framework. These approaches, which are unified within a class of methods called multi-wave algorithms, offer further refinements by memory based strategies that draw on the concept of persistent attractiveness. Our algorithms provide new forms of both neighborhood search methods and multi-start methods, and are readily embodied within evolutionary algorithms and memetic algorithms by solution combination mechanisms derived from path relinking. These methods can also be used to enhance branching strategies for mixed integer programming.     

A new memetic algorithm based on cellular learning automata for solving the vertex coloring problem

Vertex coloring problem is a combinatorial optimization problem in graph theory in which a color is assigned to each vertex of graph such that no two adjacent vertices have the same color. In this paper a new hybrid algorithm which is obtained from combination of cellular learning automata (CLA) and memetic algorithm (MA) is proposed for solving the vertex coloring problem. CLA is an effective probabilistic learning model combining cellular automata and learning automaton (LA). Irregular CLA (ICLA) is a generalization of CLA in which the restriction of rectangular grid structure in CLA is removed. The proposed algorithm is based on the irregular open CLA (IOCLA) that is an extension of ICLA in which the evolution of CLA is influenced by both local and global environments. Similar to other IOCLA-based algorithms, in the proposed algorithm, local environment is constituted by neighboring LAs of any cell and the global environment consists of a pool of memes in which each meme corresponds to a certain local search method. Each meme is represented by a set of LAs from which the history of the corresponding local search method can be extracted. To show the superiority of the proposed algorithm over some well-known algorithms, several computer experiments have been conducted. The results show that the proposed algorithm performs better than other methods in terms of running time of algorithm and the required number of colors.     

The linear ordering problem: Instances,search space analysis and algorithms

The linear ordering problem is an NP-hard problem that arises in a variety of applications. Due to its interest in practice, it has received considerable attention and a variety of algorithmic approaches to its solution have been proposed. In this paper we give a detailed search space analysis of available benchmark instance classes that have been used in various researches. The large fitness-distance correlations observed for many of these instances suggest that adaptive restart algorithms like iterated local search or memetic algorithms, which iteratively generate new starting solutions for a local search based on previous search experience, are promising candidates for obtaining high performing algorithms. We therefore experimentally compared two such algorithms and the final experimental results suggest that, in particular, the memetic algorithm is a new state-of-the-art approach to the linear ordering problem.     

Hybrid Flow-Shop: a Memetic Algorithm Using Constraint-Based Scheduling for Efficient Search

The paper considers the hybrid flow-shop scheduling problem with multiprocessor tasks. Motivated by the computational complexity of the problem, we propose a memetic algorithm for this problem in the paper. We first describe the implementation details of a genetic algorithm, which is used in the memetic algorithm. We then propose a constraint programming based branch-and-bound algorithm to be employed as the local search engine of the memetic algorithm. Next, we present the new memetic algorithm. We lastly explain the computational experiments carried out to evaluate the performance of three algorithms (genetic algorithm, constraint programming based branch-and-bound algorithm, and memetic algorithm) in terms of both the quality of the solutions produced and the efficiency. These results demonstrate that the memetic algorithm produces better quality solutions and that it is very efficient.     

Integrating memetic search into the BioHEL evolutionary learning system for large-scale datasets

Local search methods are widely used to improve the performance of evolutionary computation algorithms in all kinds of domains. Employing advanced and efficient exploration mechanisms becomes crucial in complex and very large (in terms of search space) problems, such as when employing evolutionary algorithms to large-scale data mining tasks. Recently, the GAssist Pittsburgh evolutionary learning system was extended with memetic operators for discrete representations that use information from the supervised learning process to heuristically edit classification rules and rule sets. In this paper we first adapt some of these operators to BioHEL, a different evolutionary learning system applying the iterative learning approach, and afterwards propose versions of these operators designed for continuous attributes and for dealing with noise. The performance of all these operators and their combination is extensively evaluated on a broad range of synthetic large-scale datasets to identify the settings that present the best balance between efficiency and accuracy. Finally, the identified best configurations are compared with other classes of machine learning methods on both synthetic and real-world large-scale datasets and show very competent performance.     

A hybrid method for multidimensional scaling using city-block distances

The problem of multidimensional scaling with city-block distances in the embedding space is reduced to a two level optimization problem consisting of a combinatorial problem at the upper level and a quadratic programming problem at the lower level. A hybrid method is proposed combining randomized search for the upper level problem with a standard quadratic programming algorithm for the lower level problem. Several algorithms for the combinatorial problem have been tested and an evolutionary global search algorithm has been proved most suitable. An experimental code of the proposed hybrid multidimensional scaling algorithm is developed and tested using several test problems of two- and three-dimensional scaling.     

A simulated annealing based genetic local search algorithm for multi-objective multicast routing problems

This paper presents a new hybrid evolutionary algorithm to solve multi-objective multicast routing problems in telecommunication networks. The algorithm combines simulated annealing based strategies and a genetic local search, aiming at a more flexible and effective exploration and exploitation in the search space of the complex problem to find more non-dominated solutions in the Pareto Front. Due to the complex structure of the multicast tree, crossover and mutation operators have been specifically devised concerning the features and constraints in the problem. A new adaptive mutation probability based on simulated annealing is proposed in the hybrid algorithm to adaptively adjust the mutation rate according to the fitness of the new solution against the average quality of the current population during the evolution procedure. Two simulated annealing based search direction tuning strategies are applied to improve the efficiency and effectiveness of the hybrid evolutionary algorithm. Simulations have been carried out on some benchmark multi-objective multicast routing instances and a large amount of random networks with five real world objectives including cost, delay, link utilisations, average delay and delay variation in telecommunication networks. Experimental results demonstrate that both the simulated annealing based strategies and the genetic local search within the proposed multi-objective algorithm, compared with other multi-objective evolutionary algorithms, can efficiently identify high quality non-dominated solution set for multi-objective multicast routing problems and outperform other conventional multi-objective evolutionary algorithms in the literature.