scholarly journals The Application of an Adaptive Genetic Algorithm Based on Collision Detection in Path Planning of Mobile Robots

2021 ◽  
Vol 2021 ◽  
pp. 1-20
Author(s):  
Kun Hao ◽  
Jiale Zhao ◽  
Beibei Wang ◽  
Yonglei Liu ◽  
Chuanqi Wang
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Collision Detection ◽  
Optimal Solution ◽  
Adaptive Mutation ◽  
Adaptive Genetic Algorithm ◽  
Mutation Operator ◽  
Crossover Operator ◽  
Running Time ◽  
Local Optimal Solution

An adaptive genetic algorithm based on collision detection (AGACD) is proposed to solve the problems of the basic genetic algorithm in the field of path planning, such as low convergence path quality, many iterations required for convergence, and easily falling into the local optimal solution. First, this paper introduces the Delphi weight method to evaluate the weight of path length, path smoothness, and path safety in the fitness function, and a collision detection method is proposed to detect whether the planned path collides with obstacles. Then, the population initialization process is improved to reduce the program running time. After comprehensively considering the population diversity and the number of algorithm iterations, the traditional crossover operator and mutation operator are improved, and the adaptive crossover operator and adaptive mutation operator are proposed to avoid the local optimal solution. Finally, an optimization operator is proposed to improve the quality of convergent individuals through the second optimization of convergent individuals. The simulation results show that the adaptive genetic algorithm based on collision detection is not only suitable for simulation maps with various sizes and obstacle distributions but also has excellent performance, such as greatly reducing the running time of the algorithm program, and the adaptive genetic algorithm based on collision detection can effectively solve the problems of the basic genetic algorithm.

An Improved Cloud Adaptive Genetic Algorithm Based on Cloud Computing for Active Optimization Calculation

2015 ◽  
Vol 713-715 ◽  
pp. 1579-1582
Author(s):  
Shao Min Zhang ◽  
Ze Wu ◽  
Bao Yi Wang
Keyword(s):  
Genetic Algorithm ◽  
Cloud Computing ◽  
Large Scale ◽  
Optimal Solution ◽  
Adaptive Genetic Algorithm ◽  
Load Optimization ◽  
Active Load ◽  
Optimization Calculation ◽  
Local Optimal Solution ◽  
Optimization Allocation

Under the background of huge amounts of data in large-scale power grid, the active power optimization calculation is easy to fall into local optimal solution, and meanwhile the calculation demands a higher processing speed. Aiming at these questions, the farmer fishing algorithm which is applied to solve the problem of optimal distribution of active load for coal-fired power units is used to improve the cloud adaptive genetic algorithm (CAGA) for speeding up the convergence phase of CAGA. The concept of cloud computing algorithm is introduced, and parallel design has been done through MapReduce graphs. This method speeds up the calculation and improves the effectiveness of the active load optimization allocation calculation.

Satellite Module Layout Design Based on Adaptive Bee Evolutionary Genetic Algorithm

2014 ◽  
Vol 538 ◽  
pp. 193-197
Author(s):  
Jian Jiang Su ◽  
Chao Che ◽  
Qiang Zhang ◽  
Xiao Peng Wei
Keyword(s):  
Genetic Algorithm ◽  
Optimal Solution ◽  
Layout Design ◽  
Adaptive Genetic Algorithm ◽  
Local Optimality ◽  
Mutation Probability ◽  
Evolutionary Genetic ◽  
Local Optimal Solution ◽  
The Moment ◽  
Crossover And Mutation

The main problems for Genetic Algorithm (GA) to deal with the complex layout design of satellite module lie in easily trapping into local optimality and large amount of consuming time. To solve these problems, the Bee Evolutionary Genetic Algorithm (BEGA) and the adaptive genetic algorithm (AGA) are introduced. The crossover operation of BEGA algorithm effectively reinforces the information exploitation of the genetic algorithm, and introducing random individuals in BEGA enhance the exploration capability and avoid the premature convergence of BEGA. These two features enable to accelerate the evolution of the algorithm and maintain excellent solutions. At the same time, AGA is adopted to improve the crossover and mutation probability, which enhances the escaping capability from local optimal solution. Finally, satellite module layout design based on Adaptive Bee Evolutionary Genetic Algorithm (ABEGA) is proposed. Numerical experiments of the satellite module layout optimization show that: ABEGA outperforms SGA and AGA in terms of the overall layout scheme, enveloping circle radius, the moment of inertia and success rate.

scholarly journals Multipopulation Genetic Algorithm Based on GPU for Solving TSP Problem

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Boqun Wang ◽  
Hailong Zhang ◽  
Jun Nie ◽  
Jie Wang ◽  
Xinchen Ye ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Optimal Solution ◽  
Coarse Grained ◽  
Mutation Rates ◽  
Adaptive Mutation ◽  
Original Population ◽  
Elite Strategy ◽  
Mutation Strategy ◽  
Local Optimal Solution ◽  
Crossover Method

A GPU-based Multigroup Genetic Algorithm was proposed, which parallelized the traditional genetic algorithm with a coarse-grained architecture island model. The original population is divided into several subpopulations to simulate different living environments, thus increasing species richness. For each subpopulation, different mutation rates were adopted, and the crossover results were optimized by combining the crossover method based on distance. The adaptive mutation strategy based on the number of generations was adopted to prevent the algorithm from falling into the local optimal solution. An elite strategy was adopted for outstanding individuals to retain their superior genes. The algorithm was implemented with CUDA/C, combined with the powerful parallel computing capabilities of GPUs, which greatly improved the computing efficiency. It provided a new solution to the TSP problem.

A Genetic Algorithm for the Production Policy in a Supply Chain under Discrete Demand and Time-Vary Cost

2013 ◽  
Vol 321-324 ◽  
pp. 2137-2140 ◽  
Author(s):  
Bing Chang Ouyang
Keyword(s):  
Genetic Algorithm ◽  
Supply Chain ◽  
Fitness Function ◽  
Optimal Solution ◽  
Just In Time ◽  
Adaptive Genetic Algorithm ◽  
Production Policy ◽  
Production Scheme ◽  
Distribution Requirement ◽  
Local Optimal Solution

Considering discrete demand and time-vary unit production cost under a foreseeable time horizon, this study presents an adaptive genetic algorithm to determine the production policy for one manufacturer supplying single item to multiple warehouses in a supply chain environment. Based on Distribution Requirement Planning (DRP) and Just in Time (JIT) delivery policy, we assume each gene in chromosome represents a period. Standard GA operators are used to generate new populations. These populations are evaluated by a fitness function using the total cost of production scheme. An explicit procedure for obtaining the local optimal solution is provided.

scholarly journals Path Planning of Mobile Robots Based on a Multi-Population Migration Genetic Algorithm

Sensors ◽  
2020 ◽  
Vol 20 (20) ◽  
pp. 5873 ◽  
Author(s):  
Kun Hao ◽  
Jiale Zhao ◽  
Kaicheng Yu ◽  
Cheng Li ◽  
Chuanqi Wang
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Large Population ◽  
Optimal Solution ◽  
Population Diversity ◽  
Superior Performance ◽  
Population Migration ◽  
Population Number ◽  
Local Optimal Solution ◽  
Standard Genetic Algorithm

In the field of robot path planning, aiming at the problems of the standard genetic algorithm, such as premature maturity, low convergence path quality, poor population diversity, and difficulty in breaking the local optimal solution, this paper proposes a multi-population migration genetic algorithm. The multi-population migration genetic algorithm randomly divides a large population into several small with an identical population number. The migration mechanism among the populations is used to replace the screening mechanism of the selection operator. Operations such as the crossover operator and the mutation operator also are improved. Simulation results show that the multi-population migration genetic algorithm (MPMGA) is not only suitable for simulation maps of various scales and various obstacle distributions, but also has superior performance and effectively solves the problems of the standard genetic algorithm.

Path Planning for Mobile Robot with Clonal Selection Algorithm

2012 ◽  
Vol 256-259 ◽  
pp. 2943-2946
Author(s):  
Yi Li ◽  
Zhen Hui Song ◽  
Li Zhao
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Clonal Selection ◽  
Optimal Solution ◽  
Clonal Selection Algorithm ◽  
Mutation Operator ◽  
Robot Path Planning ◽  
Selection Algorithm ◽  
Evolutionary Progress ◽  
Robot Path

Aiming at the problem of path planning for a mobile robot, an oriented clonal selection algorithm is proposed. Firstly, the static environment was expressed by a map with nodes and links. Secondly, the locations of target and obstacles were defined. Thirdly, an oriented mutation operator was used to accelerate the evolutionary progress. In this way, we can find an optimal solution with proposed oriented clonal algorithm. Experiment results demonstrate that the algorithm is simple, effective, to solve the problem of robot path planning in a static environment

Design of 3D-Route Planning Based on the Improvement of Simple Genetic Algorithm

2013 ◽  
Vol 760-762 ◽  
pp. 1690-1694
Author(s):  
Jian Xia Zhang ◽  
Tao Yu ◽  
Ji Ping Chen ◽  
Ying Hao Lin ◽  
Yu Meng Zhang
Keyword(s):  
Genetic Algorithm ◽  
Search Algorithm ◽  
Scientific Research ◽  
Route Planning ◽  
Optimal Solution ◽  
Global Search ◽  
Global Search Algorithm ◽  
Simple Genetic Algorithm ◽  
Local Optimal Solution ◽  
Simulation Results

With the wide application of UAV in the scientific research,its route planning is becoming more and more important. In order to design the best route planning when UAV operates in the field, this paper mainly puts to use the simple genetic algorithm to design 3D-route planning. It primarily introduces the advantages of genetic algorithm compared to others on the designing of route planning. The improvement of simple genetic algorithm is because of the safety of UAV when it flights higher, and the 3D-route planning should include all the corresponding areas. The simulation results show that: the improvement of simple genetic algorithm gets rid of the dependence of parameters, at the same time it is a global search algorithm to avoid falling into the local optimal solution. Whats more, it can meet the requirements of the 3D-route planning design, to the purpose of regional scope and high safety.

scholarly journals A novel pseudoderivative-based mutation operator for real-coded adaptive genetic algorithms

F1000Research ◽  
2013 ◽  
Vol 2 ◽  
pp. 139
Author(s):  
Maxinder S Kanwal ◽  
Avinash S Ramesh ◽  
Lauren A Huang
Keyword(s):  
Genetic Algorithm ◽  
Genetic Algorithms ◽  
Mutation Rate ◽  
Optimal Solution ◽  
Global Optimum ◽  
Optimization Techniques ◽  
Adaptive Mutation ◽  
Local Optima ◽  
3 Dimensional ◽  
Successive Generations

Recent development of large databases, especially those in genetics and proteomics, is pushing the development of novel computational algorithms that implement rapid and accurate search strategies. One successful approach has been to use artificial intelligence and methods, including pattern recognition (e.g. neural networks) and optimization techniques (e.g. genetic algorithms). The focus of this paper is on optimizing the design of genetic algorithms by using an adaptive mutation rate that is derived from comparing the fitness values of successive generations. We propose a novel pseudoderivative-based mutation rate operator designed to allow a genetic algorithm to escape local optima and successfully continue to the global optimum. Once proven successful, this algorithm can be implemented to solve real problems in neurology and bioinformatics. As a first step towards this goal, we tested our algorithm on two 3-dimensional surfaces with multiple local optima, but only one global optimum, as well as on the N-queens problem, an applied problem in which the function that maps the curve is implicit. For all tests, the adaptive mutation rate allowed the genetic algorithm to find the global optimal solution, performing significantly better than other search methods, including genetic algorithms that implement fixed mutation rates.

The System of Spindle Optimization Design Based on GA

2012 ◽  
Vol 466-467 ◽  
pp. 773-777 ◽  
Author(s):  
Peng Jia Wang ◽  
Chen Guang Guo ◽  
Yong Xian Liu ◽  
Zhong Qi Sheng
Keyword(s):  
Genetic Algorithm ◽  
Mathematical Model ◽  
Dynamic Property ◽  
Design Variable ◽  
Optimization Design ◽  
Search Space ◽  
Mutation Operator ◽  
Crossover Operator ◽  
Selection Operator ◽  
The Mathematical Model

Aiming at the optimization design of spindle, this paper introduces deflection constraint, strength constraint, corner constraint, cutting force constraint, the limit of torsional deflection, boundary constraint of design variable, dynamic property constraint , realizes the expression of the mathematical model of the spindle optimization design. Through the introduction of the real number code rule, the selection operator is built by adopting the optimum maintaining tactics and proportional selection, the crossover operator is built by using the method of arithmetic crossover and the mutation operator is built by using the method of uniform mutation. In the platform of VC++, the system of spindle optimization design based on GA is built. The analysis of the example shows that using the genetic algorithm to optimize the spindle can ensure the convergence of the optimization course, expand the search space, and the effect of optimization is obvious.

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