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.

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.

AO-BBO: A Novel Optimization Algorithm and Its Application in Plant Drug Extraction

2019 ◽  
Vol 19 (2) ◽  
pp. 139-145 ◽  
Author(s):  
Bote Lv ◽  
Juan Chen ◽  
Boyan Liu ◽  
Cuiying Dong
Keyword(s):  
Optimization Algorithm ◽  
Learning Strategy ◽  
Optimal Solution ◽  
Population Diversity ◽  
Global Optimal Solution ◽  
Plant Medicine ◽  
Suitability Index ◽  
Sensing Model ◽  
Local Optimal Solution ◽  
Global Optimal

<P>Introduction: It is well-known that the biogeography-based optimization (BBO) algorithm lacks searching power in some circumstances. </P><P> Material & Methods: In order to address this issue, an adaptive opposition-based biogeography-based optimization algorithm (AO-BBO) is proposed. Based on the BBO algorithm and opposite learning strategy, this algorithm chooses different opposite learning probabilities for each individual according to the habitat suitability index (HSI), so as to avoid elite individuals from returning to local optimal solution. Meanwhile, the proposed method is tested in 9 benchmark functions respectively. </P><P> Result: The results show that the improved AO-BBO algorithm can improve the population diversity better and enhance the search ability of the global optimal solution. The global exploration capability, convergence rate and convergence accuracy have been significantly improved. Eventually, the algorithm is applied to the parameter optimization of soft-sensing model in plant medicine extraction rate. Conclusion: The simulation results show that the model obtained by this method has higher prediction accuracy and generalization ability.</P>

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.

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.

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 Optimization and Design of Hammerheads and Fenders on Scrap Metal Shredders Based on Improved Genetic Algorithm

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
He Tian ◽  
Guoqiang Wang ◽  
Kangkang Sun ◽  
Zeren Chen ◽  
Chuliang Yan ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Simulated Annealing ◽  
Simulated Annealing Algorithm ◽  
Dynamic Balance ◽  
Optimal Solution ◽  
Scrap Metal ◽  
Improved Genetic Algorithm ◽  
Multiple Traveling Salesman Problem ◽  
Local Optimal Solution ◽  
Annealing Algorithm

Dynamic unbalance force is an important factor affecting the service life of scrap metal shredders (SMSs) as the product of mass error. Due to the complexity of hammerheads arrangement, it is difficult to take all the parts of the hammerhead into account in the traditional methods. A novel optimization algorithm combining genetic algorithm and simulated annealing algorithm is proposed to improve the dynamic balance of scrap metal shredders. The optimization of hammerheads and fenders on SMS in this paper is considered as a multiple traveling salesman problem (MTSP), which is a kind of NP-hard problem. To solve this problem, an improved genetic algorithm (IGA) combined with the global optimization characteristics of genetic algorithm (GA) and the local optimal solution of simulated annealing algorithm (SA) is proposed in this paper, which adopts SA in the process of selecting subpopulations. The optimization results show that the resultant force of the shredder central shaft by using IGA is less than the traditional metaheuristic algorithm, which greatly improves the dynamic balance of the SMS. Validated via ADAMS simulation, the results are in good agreement with the theoretical optimization analysis.

User’s Preference Aggregation Based on Parallel Interactive Genetic Algorithms

2010 ◽  
Vol 34-35 ◽  
pp. 1159-1164 ◽  
Author(s):  
Yi Nan Guo ◽  
Yong Lin ◽  
Mei Yang ◽  
Shu Guo Zhang
Keyword(s):  
Genetic Algorithm ◽  
Genetic Algorithms ◽  
Optimal Solution ◽  
Small Population ◽  
Population Diversity ◽  
Design System ◽  
Preference Aggregation ◽  
Ip Multicast ◽  
Interactive Genetic Algorithm ◽  
Interactive Genetic Algorithms

In traditional interactive genetic algorithms, high-quality optimal solution is hard to be obtained due to small population size and limited evolutional generations. Aming at above problems, a parallel interactive genetic algorithm based on knowledge migration is proposed. During the evolution, the number of the populations is more than one. Evolution information can be exchanged between every two populations so as to guide themselves evolution. In order to realize the freedom communication, IP multicast is adopted as the transfer protocol to find out the similar users instead of traditional TCP/IP communication mode. Taken the fashion evolutionary design system as test platform, the results indicate that the IP multicast-based parallel interactive genetic algorithm has better population diversity. It also can alleviate user fatigue and speed up the convergence.

scholarly journals Improved ant colony algorithm for path planning of fixed wing unmanned aerial vehicle

2022 ◽  
Vol 355 ◽  
pp. 03002
Author(s):  
Hongchao Zhao ◽  
Jianzhong Zhao
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Ant Colony Algorithm ◽  
Search Time ◽  
Optimal Solution ◽  
Ant Colony ◽  
Local Optimal Solution ◽  
Search Speed ◽  
Aerial Vehicle ◽  
Improved Ant Colony Algorithm

Aiming at the problems of long search time and local optimal solution of ant colony algorithm (ACA) in the path planning of unmanned aerial vehicle (UAV), an improved ant colony algorithm (IACA) was proposed from the aspects of simplicity and effectiveness. The flight performance constraints of fixed wing UAVs were treated as conditions of judging whether the candidate expanded nodes are feasible, thus the feasible nodes’ number was reduced and the search efficiency was effectively raised. In order to overcome the problem of local optimal solution, the pheromone update rule is improved by combining local pheromone update and global pheromone update. The heuristic function was improved by integrating the distance heuristic factor with the safety heuristic factor, and it enhanced the UAV flight safety performance. The transfer probability was improved to increase the IACA search speed. Simulation results show that the proposed IACA possesses stronger global search ability and higher practicability than the former IACA.

Optimization Design of the Crane Girder Based on Adaptive Genetic Algorithm

2012 ◽  
Vol 591-593 ◽  
pp. 123-126
Author(s):  
Peng Fei Wang ◽  
Xiu Hui Diao
Keyword(s):  
Genetic Algorithm ◽  
Objective Function ◽  
Design Variable ◽  
Optimization Design ◽  
Optimal Solution ◽  
Population Diversity ◽  
Main Beam ◽  
Gantry Crane ◽  
Adaptive Genetic Algorithm ◽  
Accelerate Convergence

With taking weight of single main beam of gantry crane as objective function, and taking main beam upper & lower cored, diagonal & horizontal bracing, and width & weight as design variable, this essay adopted population diversity adaptive genetic algorithm to optimize its structure and improved program design through MATLAB. This algorithm could accelerate convergence speed, which make much it easier to realize comprehensive optimal solution, since it effectively avoided weakness of basic genetic algorithm, such as partial optimal solution, prematurity and being lack of continuity, etc.

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.

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