A fuzzy potential approach with the cache genetic learning algorithm for robot path planning

Recently, genetic algorithms (GAs) have attracted great interest owing to efficiency and flexibility against complex robot path planning problems. To accelerate the convergence speed, preceding researches adapted conventional GAs by using problem-specific techniques. However, such approaches increase computational burden and algorithmic complexity, resulting in subsequent additional problems. In this paper, we used Population-Based Incremental Learning (PBIL) algorithm for robot path planning as a probabilistic evolutionary approach. In addition to PBIL, we also proposed the probabilistic model of nodes and the edge bank to generate promising paths. The experimental results demonstrate that the proposed method gave markedly better performance than its conventional counter-parts(GA,kGA,fGA) in terms of success rates and the quality of obtained paths.

According to the realistic duty of robot, it's necessary to find a short path to avoid obstacles and carry limited goods, and then the added constrains let the problem is more complex and more practical. The paper proposes a tabu-genetic algorithm for robot path planning. By utilizing the main frame of parallel search supplied by genetic algorithm and embed the individual serial search mode of tabu search algorithm, this method can enlarge search space. And in order to enhance optimized speed and quality, also improve the algorithm performance, fitness function and amendatory policy are designed. Besides, algorithm convergence is analyzed based on the model of Markov chains. The results of simulations show that the method proposed in this paper, which can find an optimal path quickly and improve convergence speed and solution quality greatly.

Improved random selection strategy, self-adaptive crossover and mutation operators, population co-evolution algorithm are adopted in this paper to set up a new genetic algorithm(GA), guaranteeing the universality of population, the thoroughness of solution and the execution efficiency of algorithm in solving multi-process, process crossover, work-piece flow and other condition based scheduling problem of flexible manufacturing system(FMS). The problem of GA in solving FMS scheduling is summarized in this paper, reasons and countermeasures for GA's pre-maturing are studied, longitudinal and transverse comprehensive state-based correlative self-adaptive crossover and mutation operators are raised according to the analysis on GA to avoid local optimization and pre-maturity, the co-evolutionary GA is designed to solve the scheduling model for FMS, and the algorithm is validated for the scheduling of box-type parts for precise machine tools.

A new ant algorithm for robot path planning is presented according to the latest achievements of research on actual ants. In this algorithm, m scout ants collaborate with each other to search for an optimal or near-optimal path. Of m scout ants, n ants adopt nearest-neighbor search strategy and the left q=m-n ants adopt random search strategy. A section of optimal path will be found after all ants search L steps. Then m ants regard the end point of as the new starting point and search for L steps to find the next section of optimal path . Repeat this process until one of m ants reaches the goal. In this way, the path is consisted of h sections of path with step length L. Carry out the next generation search after step length L is modified, then repeat the searching course mentioned above. An optimal or near-optimal path will be found through comparison after multi-generation of searching. The simulation experiment results show that an optimal or near-optimal path can be planned even in environment with very complex obstacles, which can meet the requirements of real-time planning or navigation. The effect is quite satisfying.

BackgroundMining epistatic loci which affects specific phenotypic traits is an important research issue in the field of biology. Bayesian network (BN) is a graphical model which can express the relationship between genetic loci and phenotype. Until now, it has been widely used into epistasis mining in many research work. However, this method has two disadvantages: low learning efficiency and easy to fall into local optimum. Genetic algorithm has the excellence of rapid global search and avoiding falling into local optimum. It is scalable and easy to integrate with other algorithms. This work proposes an epistasis mining approach based on genetic tabu algorithm and Bayesian network (Epi-GTBN). It uses genetic algorithm into the heuristic search strategy of Bayesian network. The individual structure can be evolved through the genetic operations of selection, crossover and mutation. It can help to find the optimal network structure, and then further to mine the epistasis loci effectively. In order to enhance the diversity of the population and obtain a more effective global optimal solution, we use the tabu search strategy into the operations of crossover and mutation in genetic algorithm. It can help to accelerate the convergence of the algorithm.ResultsWe compared Epi-GTBN with other recent algorithms using both simulated and real datasets. The experimental results demonstrate that our method has much better epistasis detection accuracy in the case of not affecting the efficiency for different datasets.ConclusionsThe presented methodology (Epi-GTBN) is an effective method for epistasis detection, and it can be seen as an interesting addition to the arsenal used in complex traits analyses.

This paper is concerned with fuzzy tracking control optimized via multi-objective particle swarm optimization for stable walking of biped robots. To present an optimal control approach, multi-objective particle swarm optimization is used to design the parameters of the control method in comparison to three effectual multi-objective optimization algorithms in the literature. In particle swarm optimization, a dynamic elimination technique is utilized as a novel approach to prune the archive effectively. Moreover, a turbulence operator is used to skip the local optima and the personal best position of each particle is determined by making use of the Sigma method. Normalized summation of angles errors and normalized summation of control efforts are two conflicting objective functions addressed by dint of multi-objective optimization algorithms in the present investigation. By contrasting the Pareto front of multi-objective particle swarm optimization with the Pareto fronts of other methods, it is illustrated that multi-objective particle swarm optimization performs with high accuracy, convergence and diversity of solutions in the design of fuzzy tracking control for nonlinear dynamics of biped robots. Finally, the proper performance of the proposed controller is demonstrated by the results presenting an appropriate tracking system and optimal control inputs. Indeed, the appropriate tracking system and optimal control inputs prove the efficiency of optimal fuzzy tracking control in dealing with the nonlinear dynamics of biped robots.

Bus scheduling problem is vital to ensure service quality and save operational cost. Electric bus scheduling problem is difficult to solve because of vehicles' limited driving range and charging requirements. This article investigates the multi-depot electric bus scheduling problem (MD-EBSP). A genetic algorithm with trip-adjustment strategy (GA-TAS) is proposed for the MD-EBSP. Firstly, a genetic algorithm (GA) with three crossover operators and seven mutation operators is devised to find a set of solutions. In each generation, a randomly selected crossover (mutation) operator is used to update the individuals. The solutions found by the GA are further improved by a trip-adjustment strategy (TAS) to obtain the final solution. The GA-TAS is compared with an adaptive large neighbourhood search method, a heuristic procedure, and experience-based scheduling schemes on seven problem instances. Experiments show that the GA-TAS outperforms comparative approaches on a number of vehicle and balancing vehicle driving tasks.

Aiming at the problem of robot path planning in complex maps, an algorithm of robot path planning based on triangular grid graph is proposed. Firstly, a weighted undirected loop graph and a feasible domain of nodes are obtained by discretizing the triangular mesh map. Next, the Dijkstra search algorithm is applied to find the feasible shortest path from an initial to a final configuration. Finally, The Douglas-Peucker algorithm is applied to remove duplicate and redundant nodes in the feasible path, and the waypoint are extracted. The final path is a curve that is obtained by connecting the several extracted waypoint. The proposed algorithm is tested for various maps. Compared with probabilistic roadmap method, the experimental results show that the proposed method can overcome the shortcomings of the random sampling method. Furthermore, the experimental result of triangular mesh map method used in two labyrinth maps show that the triangular mesh map method can solve the robot path planning problem in complex map very well, and it is an excellent algorithm for robot path planning.

A modified dueling DQN algorithm for robot path planning incorporating priority experience replay and artificial potential fields

To overcome the defects of precocity and the time for initial population building is too long in traditional augment ant colony algorithm for mobile robot global path planning, an improved augment ant colony algorithm is presented in this paper. The operations of crossover and mutation of genetic algorithm (GA) are used in augment ant colony optimization, and the heuristic probability function is added to the process of the initial population building. The process flow of improved ant colony algorithm is given and the simulation experiment is done under the VC++ 6.0 environment. Experimental results show that the algorithm has much higher capacity of global optimization than traditional augment ant colony algorithm.

Floorplanning is a crucial process in the early stage of VLSI physical design. It determines the performance, reliability, and size of chips. B*-tree is a simple yet efficient representation that encodes the layout of modules in a compact and non-slicing structure. Several B*-tree variants and corresponding operators have been proposed to deal with non-slicing floorplanning. However, these operators are considered and applied individually. A collective manipulation of them remains missing. This study proposes a genetic algorithm (GA) that enables multiple crossover and mutation operators for solving the non-slicing floorplanning problem. In particular, the GA selects one crossover operator and one mutation operator from the pool of operators whenever reproducing an offspring. The probability for an operator to be selected is based on its empirical performance. This study conducts experiments on two well-known benchmarks to examine the effectiveness of the proposed method. The experimental results show that the GA can achieve superior solution quality and efficiency on the non-slicing VLSI floorplanning.

Although fuzzy logic controllers and expert systems have been successfully applied in many complex industrial processes, they experience a deficiency in knowledge acquisition and rely to a great extent on empirical and heuristic knowledge which, in many cases, cannot be objectively elicited. Among the problems to be resolved in fuzzy controller design are the determination of the linguistic state space, definition of the membership functions of each linguistic term and the derivation of the control rules. Some of these problems can be solved by application of machine learning. First, it is desirable to simplify and automate the specification of linguistic rules. Secondly, it is also desirable that modification of control rules is possible in order to cope with previously unknown or changes in process dynamics. Machine learning methods have, in recent years, emerged from the use of learning algorithms modelled on natural and biological systems. These methods attempt to abstract the advanced mechanisms of learning exhibited by such systems, which can consequently be applied to intelligent control. One of these new algorithms is the genetic algorithm which is modelled on the processes of natural evolution. The paper develops the application of genetic algorithm techniques for fuzzy controller design. Genetic algorithms are used to automate and introduce objective criteria in defining fuzzy controller parameters.

BackgroundProtein structure prediction (PSP) has important applications in different fields, such as drug design, disease prediction, and so on. In protein structure prediction, there are two important issues. The first one is the design of the structure model and the second one is the design of the optimization technology. Because of the complexity of the realistic protein structure, the structure model adopted in this paper is a simplified model, which is called off-lattice AB model. After the structure model is assumed, optimization technology is needed for searching the best conformation of a protein sequence based on the assumed structure model. However, PSP is an NP-hard problem even if the simplest model is assumed. Thus, many algorithms have been developed to solve the global optimization problem. In this paper, a hybrid algorithm, which combines genetic algorithm (GA) and tabu search (TS) algorithm, is developed to complete this task.ResultsIn order to develop an efficient optimization algorithm, several improved strategies are developed for the proposed genetic tabu search algorithm. The combined use of these strategies can improve the efficiency of the algorithm. In these strategies, tabu search introduced into the crossover and mutation operators can improve the local search capability, the adoption of variable population size strategy can maintain the diversity of the population, and the ranking selection strategy can improve the possibility of an individual with low energy value entering into next generation. Experiments are performed with Fibonacci sequences and real protein sequences. Experimental results show that the lowest energy obtained by the proposed GATS algorithm is lower than that obtained by previous methods.ConclusionsThe hybrid algorithm has the advantages from both genetic algorithm and tabu search algorithm. It makes use of the advantage of multiple search points in genetic algorithm, and can overcome poor hill-climbing capability in the conventional genetic algorithm by using the flexible memory functions of TS. Compared with some previous algorithms, GATS algorithm has better performance in global optimization and can predict 3D protein structure more effectively.

This paper presents a fuzzy logic control strategy on four-wheel steering(4WS) vehicle based on a multi-body vehicle dynamic model. The multi-body vehicle dynamic model based on ADAMS can accurately predict the dynamics performance of the vehicle. Fuzzy logic is applied to track the yaw velocity of the two degrees of freedom ideal model through the co-simulation of ADAMS and Matlab Fuzzy control unit with the optimized membership function. The fuzzy control parameters are optimized and analyzed by a combined optimization algorithm (Genetic Algorithm (GA) and Nonlinear Programming Quadratic Line search (NLPQL) method) combined with response surface model (RSM). Single lane change test is chosen to validate the fuzzy control logic strategy. Simulation result shows that four-wheel steering vehicle with the fuzzy control logic strategy can improve vehicle handling stability greatly comparing with traditional front wheel steering.

This paper proposes a novel Genetic Algorithms (GAs) approach for a near-optimal path planning of a mobile robot in a greenhouse. The chromosome encoding features in inverse proportion between research spaces of GAs and complexity of obstacles. The fitness evaluation is designed for both incomplete and complete paths to guide the evolutional direction. The crossover and mutation operators are trimmed to he path planning problem. Two operators were presented to promote the effectiveness of evolution of problem-specific GAs. The simulation results obtained is satisfactory.Key wordsGenetic Algorithmsmobile robotpath planning