scholarly journals The Inverse Solution Algorithm and Trajectory Error Analysis of Robotic Arm Based on MQACA-RBF Network

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Xu Cheng ◽  
Ming Zhao
Keyword(s):  
Ant Colony Algorithm ◽  
Optimal Solution ◽  
Solution Algorithm ◽  
Inverse Solution ◽  
Ant Colony ◽  
Robotic Arm ◽  
Robot Arm ◽  
Rbf Neural Networks ◽  
Rbf Network ◽  
Simulation Results

In order to improve the position accuracy and trajectory accuracy of a 6R robotic arm, a robot arm inverse solution algorithm based on the MQACA- (improved quantum ant colony-) RBF network is proposed. This algorithm establishes the prediction model through the neural network and uses the quantum ant colony algorithm to optimize the output weight. In order to solve the problem that the quantum ant colony algorithm has low convergence precision and easy to fall into the local optimal solution in the inverse solution algorithm of the multifreedom robotic arm, improved measures such as 2-opt local optimization and maximum minimum pheromone limit and variation are adopted. By comparing the simulation results of the 6R robotic arm simulation results and the simulation results based on ACA, QACA, and RBF neural networks on the position and motion trajectory of the space point, the advantages in precision are obvious. This proves the feasibility and effectiveness of the scheme.

Application of Improved Ant Colony Algorithm in QoS Routing Optimization

2010 ◽  
Vol 108-111 ◽  
pp. 353-358 ◽  
Author(s):  
Xiu Ju Liu
Keyword(s):  
Ant Colony Algorithm ◽  
Optimal Solution ◽  
Qos Routing ◽  
Ant Colony ◽  
Design And Implementation ◽  
Routing Optimization ◽  
Speed Up ◽  
Simulation Results ◽  
Full Proof ◽  
Implementation Steps

QoS routing for the characteristics of the ant colony algorithm is improved. First of all defect from the ant colony algorithm and to increase Network Node bound, As well as to speed up global convergence analysis of the three areas of the ant colony algorithm to improve thinking; And by improving the ant colony algorithm in the QoS routing optimization application, the details of the ant colony algorithm to improve the design and implementation steps. Finally, simulation results show that: According to the algorithm for solving the problem and get the optimal solution of the ratio of full proof of improvement in the ant colony algorithm QoS routing optimization on the effectiveness and stability.

scholarly journals Parameter Selection for Ant Colony Algorithm Based on Bacterial Foraging Algorithm

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Peng Li ◽  
Hua Zhu
Keyword(s):  
Ant Colony Algorithm ◽  
Optimal Solution ◽  
Parameter Selection ◽  
Ant Colony ◽  
Multidimensional Space ◽  
Bacterial Foraging ◽  
Operation Speed ◽  
Local Optimal Solution ◽  
Bacterial Foraging Algorithm ◽  
Selection For

The optimal performance of the ant colony algorithm (ACA) mainly depends on suitable parameters; therefore, parameter selection for ACA is important. We propose a parameter selection method for ACA based on the bacterial foraging algorithm (BFA), considering the effects of coupling between different parameters. Firstly, parameters for ACA are mapped into a multidimensional space, using a chemotactic operator to ensure that each parameter group approaches the optimal value, speeding up the convergence for each parameter set. Secondly, the operation speed for optimizing the entire parameter set is accelerated using a reproduction operator. Finally, the elimination-dispersal operator is used to strengthen the global optimization of the parameters, which avoids falling into a local optimal solution. In order to validate the effectiveness of this method, the results were compared with those using a genetic algorithm (GA) and a particle swarm optimization (PSO), and simulations were conducted using different grid maps for robot path planning. The results indicated that parameter selection for ACA based on BFA was the superior method, able to determine the best parameter combination rapidly, accurately, and effectively.

Cutting trajectory planning of sections with complex composition for roadheader

2018 ◽  
Vol 233 (4) ◽  
pp. 1441-1452 ◽  
Author(s):  
Suyu Wang ◽  
Miao Wu
Keyword(s):  
Trajectory Planning ◽  
Ant Colony Algorithm ◽  
Optimal Path ◽  
Grid Method ◽  
Ant Colony ◽  
Local Optimum ◽  
Complex Composition ◽  
Cutting Head ◽  
Pheromone Concentration ◽  
Simulation Results

In order to realize the autonomous cutting for tunneling robot, the method of cutting trajectory planning of sections with complex composition was proposed. Firstly, based on the multi-sensor parameters, the existence, the location, and size of the dirt band were determined. The roadway section environment was modeled by grid method. Secondly, according to the cutting process and tunneling cutting characteristics, the cutting trajectory ant colony algorithm was proposed. To ensure the operation safety and avoid the cutting head collision, the expanding operation was adopt for dirt band, and the aborting strategy for the ants trapped in the local optimum was put forward to strengthen the pheromone concentration of the found path. The simulation results showed that the proposed method can be used to plan the optimal cutting trajectory. The ant colony algorithm was used to search for the shortest path to avoid collision with the dirt band, and the S-path cutting was used for the left area to fulfill section forming by following complete cover principle. All the ants have found the optimal path within 50 times iteration of the algorithm, and the simulation results were better than particle swarm optimization and basic ant colony optimization.

scholarly journals Multi-objective performance optimization of ORC cycle based on improved ant colony algorithm

Open Physics ◽  
2019 ◽  
Vol 17 (1) ◽  
pp. 48-59 ◽  
Author(s):  
Rong He ◽  
Xinli Wei ◽  
Nasruddin Hassan
Keyword(s):  
Performance Optimization ◽  
Ant Colony Algorithm ◽  
Optimal Solution ◽  
Second Law Of Thermodynamics ◽  
Optimization Method ◽  
Ant Colony ◽  
Multi Objective ◽  
Objective Performance ◽  
Performance Evaluation Index ◽  
Improved Ant Colony Algorithm

Abstract To solve the problem of multi-objective performance optimization based on ant colony algorithm, a multi-objective performance optimization method of ORC cycle based on an improved ant colony algorithm is proposed. Through the analysis of the ORC cycle system, the thermodynamic model of the ORC system is constructed. Based on the first law of thermodynamics and the second law of thermodynamics, the ORC system evaluation model is established in a MATLAB environment. The sensitivity analysis of the system is carried out by using the system performance evaluation index, and the optimal working parameter combination is obtained. The ant colony algorithm is used to optimize the performance of the ORC system and obtain the optimal solution. Experimental results show that the proposed multi-objective performance optimization method based on the ant colony algorithm for the ORC cycle needs a shorter optimization time and has a higher optimization efficiency.

Improved Ant Colony Algorithm for Optimal Solution TSP

2013 ◽  
Vol 765-767 ◽  
pp. 699-702
Author(s):  
Tian Yuan Zhou
Keyword(s):  
Traveling Salesman Problem ◽  
Ant Colony Algorithm ◽  
Search Strategy ◽  
Optimal Solution ◽  
Traveling Salesman ◽  
Ant Colony ◽  
Algorithm Analysis ◽  
Simulation Testing ◽  
The Traveling Salesman Problem ◽  
Improved Ant Colony Algorithm

Based on the ant colony algorithm analysis and research, this paper proposed an improved ant colony algorithm. Through updating pheromone and optimal search strategy, then applied to the Traveling Salesman Problem (TSP), effectively improved the searching capability of the algorithm. Finally through the simulation testing and analysis, verified that the improved ant colony algorithm is effective, and has good performance.

A Image Segmentation Method of Improved Ant Colony Algorithm for the Manipulator Self-Recognition Target

2011 ◽  
Vol 135-136 ◽  
pp. 50-55
Author(s):  
Yuan Bin Hou ◽  
Yang Meng ◽  
Jin Bo Mao
Keyword(s):  
Image Segmentation ◽  
Ant Colony Algorithm ◽  
Optimal Solution ◽  
Immune Algorithm ◽  
Ant Colony ◽  
Segmentation Result ◽  
Segmentation Method ◽  
Self Recognition ◽  
Local Optimal Solution ◽  
Improved Ant Colony Algorithm

According to the requirements of efficient image segmentation for the manipulator self-recognition target, a method of image segmentation based on improved ant colony algorithm is proposed in the paper. In order to avoid segmentation errors by local optimal solution and the stagnation of convergence, ant colony algorithm combined with immune algorithm are taken to traversing the whole image, which uses pheromone as standard. Further, immunization selection through vaccination optimizes the heuristic information, then it improves the efficiency of ergodic process, and shortens the time of segmentation effectively. Simulation and experimental of image segmentation result shows that this algorithm can get better effect than generic ant colony algorithm, at the same condition, segmentation time is shortened by 6.8%.

Research on Application of Ant Colony Optimization

2014 ◽  
Vol 548-549 ◽  
pp. 1213-1216
Author(s):  
Wang Rui ◽  
Zai Tang Wang
Keyword(s):  
Ant Colony Optimization ◽  
Optimization Algorithm ◽  
Ant Colony Algorithm ◽  
Optimal Algorithm ◽  
Convergence Speed ◽  
Ant Colony ◽  
Ant Colony Optimization Algorithm ◽  
Slow Convergence ◽  
Simulation Results ◽  
Research On Application

We research on application of ant colony optimization. In order to avoid the stagnation and slow convergence speed of ant colony algorithm, this paper propose the multiple ant colony optimization algorithm based on the equilibrium of distribution. The simulation results show that the optimal algorithm can have better balance in reducing stagnation and improving the convergence.

Application of Ant Colony Algorithm

2014 ◽  
Vol 548-549 ◽  
pp. 1217-1220
Author(s):  
Rui Wang ◽  
Zai Tang Wang
Keyword(s):  
Ant Colony Optimization ◽  
Ant Colony Algorithm ◽  
Optimal Solution ◽  
Ant Colony ◽  
Pheromone Concentration ◽  
Local Optimal Solution ◽  
Searching Ability ◽  
Excessive Accumulation

This paper mainly considers the application of the ant colony in our life. The principle of ant colony optimization, improves the performance of ant colony algorithm, and the global searching ability of the algorithm. We introduce a new adaptive factor in order to avoid falling into local optimal solution. With the increase the number of interations, this factor will benefit the ant search the edge with lower pheromone concentration and avoid the excessive accumulation of pheromone.

scholarly journals Intelligent Bionic Optimization Algorithm Based on the Growth Characteristics of Tree Branches

2021 ◽  
Vol 15 (2) ◽  
pp. 34-46
Author(s):  
Fei Tang
Keyword(s):  
Genetic Algorithm ◽  
Tree Growth ◽  
Optimization Algorithm ◽  
Ant Colony Algorithm ◽  
Morphological Characteristics ◽  
Optimal Solution ◽  
Shoot Tip ◽  
Experimental Results ◽  
Ant Colony ◽  
The Individual

To improve the performance of bionic algorithms, an intelligent bionic optimization algorithm is proposed based on the morphological characteristics of trees growing toward light. The growth organ of the tree is mapped into the coding of the tree growth algorithm, and the entire tree is formed by selecting the fastest growing individual to form the next level of the tree. When the tree growth reaches a certain level, the individual code of the shoot tip is added to enhance the search ability of the individual shoot tip in the growth space of the entire tree. This method achieves a near-optimal solution. The experimental results were compared with the optimization results of the genetic algorithm and the ant colony algorithm using the classic optimization function. The experimental results show that this algorithm has fewer iterations, a faster convergence speed, higher precision, and a better optimization ability than the genetic algorithm or the ant colony algorithm.

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