基于P-PSO 算法的室内有障碍通风环境下的多机器人气味源搜索

受湍流影响, 室内通风环境下的烟羽分布表现出波动变化且不连续的特性; 在一些角落处, 较大的漩涡会产生长时间的局部浓度极值区; 另外室内的障碍物也会改变烟羽的分布状况. 因此室内有障碍通风环境下的机器人气味源搜索问题变得很复杂. 本文提出了基于概率适应度函数的粒子群优化(Probability-fitness-function based particle swarm optimization, P-PSO)算法并用于多机器人气味源搜索. P-PSO算法的特点是采用概率而非确定数来表达适应度函数值. 针对气味源搜索问题, P-PSO算法的适应度函数值由贝叶斯和变论域模糊推理估计的气味源概率表达. 为验证提出的搜索策略, 构建了对应实际边界条件的室内通风环境的烟羽模型. 仿真研究证明了本文提出的P-PSO搜索算法用于解决气味源搜索问题的可行性.     

Odor source localization using a mobile robot in outdoor airflow environments with a particle filter algorithm

This paper discusses odor source localization (OSL) using a mobile robot in an outdoor time-variant airflow environment. A novel OSL algorithm based on particle filters (PF) is proposed. When the odor plume clue is found, the robot performs an exploratory behavior, such as a plume-tracing strategy, to collect more information about the previously unknown odor source. In parallel, the information collected by the robot is exploited by the PF-based OSL algorithm to estimate the location of the odor source in real time. The process of the OSL is terminated if the estimated source locations converge within a given small area. The Bayesian-inference-based method is also performed for comparison. Experimental results indicate that the proposed PF-based OSL algorithm performs better than the Bayesian-inference-based OSL method.     

基于头脑风暴优化算法的多机器人气味源定位

针对现有室内湍流环境下多机器人气味源搜索算法存在历史浓度信息利用率不高、缺少调节全局与局部搜索的机制等问题,提出头脑风暴优化（BSO）算法与逆风搜索结合的多机器人协同搜索算法。首先,将机器人已搜索位置初始化为个体,以机器人位置为中心聚类,有效利用了历史信息的指引作用;然后,将逆风搜索作为个体变异操作,动态调节选中一个类中个体或两个类中个体融合生成新个体的数量,有效调节了全局和局部搜索方式;最后,根据浓度和持久性两个指标对气味源进行确认。在有障碍和无障碍两个环境中将所提算法与三种群体智能多机器人气味源定位算法进行定位对比仿真实验,实验结果表明,所提算法的平均搜索时间减少33%以上,且定位准确率达到100%。该算法能够有效调节机器人全局和局部搜索关系,快速准确定位气味源。     

A learning particle swarm optimization algorithm for odor source localization

This paper is concerned with the problem of odor source localization using multi-robot system. A learning particle swarm optimization algorithm, which can coordinate a multi-robot system to locate the odor source, is proposed. First, in order to develop the proposed algorithm, a source probability map for a robot is built and updated by using concentration magnitude information, wind information, and swarm information. Based on the source probability map, the new position of the robot can be generated. Second, a distributed coordination architecture, by which the proposed algorithm can run on the multi-robot system, is designed. Specifically, the proposed algorithm is used on the group level to generate a new position for the robot. A consensus algorithm is then adopted on the robot level in order to control the robot to move from the current position to the new position. Finally, the effectiveness of the proposed algorithm is illustrated for the odor source localization problem.     

一种改进的无线传感器网络DV-Hop定位算法在煤矿井下漏电事故中的应用

煤矿井下输电线路的实时监测中,漏电故障定位是供电系统保护的重要研究课题。针对井下无线传感器网络定位算法存在不准确的问题,提出了一种改进DV-Hop节点定位算法。首先通过计算锚节点组成的三角形面积,排除面积极小的锚节点组,避免锚节点近似共线的情况,完成了锚节点的优选方案;此外在粒子群算法的基础上结合遗传算法和混沌理论,提出了一种遗传混沌粒子群优化算法;最后利用改进的粒子群算法对DV-Hop算法定位得到的节点位置进行校正。经过仿真实验表明在相同的网络环境下,与传统DV-Hop算法相比,改进算法能够更有效地提高定位精度,从而更加准确地监测到煤矿井下漏电事故位置。     

时变流场环境中机器人跟踪气味烟羽方法

机器人对气味烟羽的可靠跟踪是实现气味源定位的关键. 本文主要针对实际时变流场环境中的机器人跟踪气味烟羽问题进行研究. 文中在机器人测得气味时估计气味包的最大可能路径, 在此基础上结合流向信息, 规划搜寻路径并使机器人沿此路径运动以跟踪气味烟羽. 考虑到气味浓度场的时变特性以及可能存在的基本浓度, 采用浓度相对变化量表征气味信息. 室内时变流场环境实验表明, 使用本文所提方法的机器人可实时、有效地跟踪烟羽并趋向气味源.     

量子群智能优化算法综述

随着科学技术的不断发展,最优化理论及其衍生出的算法已经广泛应用于人们的日常工作与生活当中,现实世界中的很多问题都可以被描述为组合优化问题。群智能优化算法这些年来被证明在解决组合优化问题方面效果显著,将当下处于研究热点的量子计算概念引入群智能优化算法形成的量子群智能优化算法,为更好地解决组合优化问题提出了一个新的研究方向。在过去的二十多年里,许多量子群智能优化算法被不断开发出来,同时在此基础上进行了大量改进与应用。综述了量子蚁群算法、量子粒子群算法、量子人工鱼群算法、量子人工蜂群算法、量子布谷鸟搜索算法、量子混合蛙跳算法、量子萤火虫算法、量子蝙蝠算法等量子群智能优化算法,并对量子群智能优化算法面临的问题以及未来研究方向进行了深入探讨。     

Ensemble particle swarm optimizer

According to the “No Free Lunch (NFL)” theorem, there is no single optimization algorithm to solve every problem effectively and efficiently. Different algorithms possess capabilities for solving different types of optimization problems. It is difficult to predict the best algorithm for every optimization problem. However, the ensemble of different optimization algorithms could be a potential solution and more efficient than using one single algorithm for solving complex problems. Inspired by this, we propose an ensemble of different particle swarm optimization algorithms called the ensemble particle swarm optimizer (EPSO) to solve real-parameter optimization problems. In each generation, a self-adaptive scheme is employed to identify the top algorithms by learning from their previous experiences in generating promising solutions. Consequently, the best-performing algorithm can be determined adaptively for each generation and assigned to individuals in the population. The performance of the proposed ensemble particle swarm optimization algorithm is evaluated using the CEC2005 real-parameter optimization benchmark problems and compared with each individual algorithm and other state-of-the-art optimization algorithms to show the superiority of the proposed ensemble particle swarm optimization (EPSO) algorithm.     

基于微粒群优化的有限通信多机器人气味寻源

考虑机器人间的通信受限约束,将机器人抽象为微粒,提出基于微粒群优化的多机器人气味寻源方法.首先,采用结合斥力函数的策略,引导机器人快速搜索烟羽;然后,基于无线信号对数距离损耗模型,估计机器人间的通讯范围,据此形成微粒群的动态拓扑结构,并确定微粒的全局极值;最后,将传感器的采样/恢复时间融入微粒更新公式,以跟踪烟羽.将所提出方法应用于3个不同场景的气味寻源,实验结果验证了该方法的有效性.     

基于改进粒子群优化算法的路径规划

针对二维静态环境下移动机器人路径规划问题,该文提出一种改进的粒子群算法求解最优路径。首先,由于传统的粒子群算法初始化粒子时并未考虑到粒子初始位置是否占障碍物空间,没有对占障碍物空间的粒子进行处理,导致粒子初始有效性低下,全局寻优不准确和全局寻优时间长。然后,为解决此问题,在初始化时采用一种修正粒子算法,解决初始时粒子有效性低下的问题。比较传统粒子群算法和该文算法的仿真结果。仿真结果表明,采用这种方法极大限度地增大了初始粒子的有效性,使算法迭代时可以更加快速准确地得到全局最优路径,所提方法有效可行。     

Swarm Intelligence Approaches for Grid Load Balancing

With the rapid growth of data and computational needs, distributed systems and computational Grids are gaining more and more attention. The huge amount of computations a Grid can fulfill in a specific amount of time cannot be performed by the best supercomputers. However, Grid performance can still be improved by making sure all the resources available in the Grid are utilized optimally using a good load balancing algorithm. This research proposes two new distributed swarm intelligence inspired load balancing algorithms. One algorithm is based on ant colony optimization and the other algorithm is based on particle swarm optimization. A simulation of the proposed approaches using a Grid simulation toolkit (GridSim) is conducted. The performance of the algorithms are evaluated using performance criteria such as makespan and load balancing level. A comparison of our proposed approaches with a classical approach called State Broadcast Algorithm and two random approaches is provided. Experimental results show the proposed algorithms perform very well in a Grid environment. Especially the application of particle swarm optimization, can yield better performance results in many scenarios than the ant colony approach.     

The continuous artificial bee colony algorithm for binary optimization

Artificial bee colony (ABC) algorithm, one of the swarm intelligence algorithms, has been proposed for continuous optimization, inspired intelligent behaviors of real honey bee colony. For the optimization problems having binary structured solution space, the basic ABC algorithm should be modified because its basic version is proposed for solving continuous optimization problems. In this study, an adapted version of ABC, ABC_bin for short, is proposed for binary optimization. In the proposed model for solving binary optimization problems, despite the fact that artificial agents in the algorithm works on the continuous solution space, the food source position obtained by the artificial agents is converted to binary values, before the objective function specific for the problem is evaluated. The accuracy and performance of the proposed approach have been examined on well-known 15 benchmark instances of uncapacitated facility location problem, and the results obtained by ABC_bin are compared with the results of continuous particle swarm optimization (CPSO), binary particle swarm optimization (BPSO), improved binary particle swarm optimization (IBPSO), binary artificial bee colony algorithm (binABC) and discrete artificial bee colony algorithm (DisABC). The performance of ABC_bin is also analyzed under the change of control parameter values. The experimental results and comparisons show that proposed ABC_bin is an alternative and simple binary optimization tool in terms of solution quality and robustness.     

Sequential approximation optimization assisted particle swarm optimization for expensive problems

In this paper, an efficient sequential approximation optimization assisted particle swarm optimization algorithm is proposed for optimization of expensive problems. This algorithm makes a good balance between the search ability of particle swarm optimization and sequential approximation optimization. Specifically, the proposed algorithm uses the optima obtained by sequential approximation optimization in local regions to replace the personal historical best particles and then runs the basic particle swarm optimization procedures. Compared with particle swarm optimization, the proposed algorithm is more efficient because the optima provided by sequential approximation optimization can direct swarm particles to search in a more accurate way. In addition, a space partition strategy is proposed to constraint sequential approximation optimization in local regions. This strategy can enhance the swarm diversity and prevent the preconvergence of the proposed algorithm. In order to validate the proposed algorithm, a lot of numerical benchmark problems are tested. An overall comparison between the proposed algorithm and several other optimization algorithms has been made. Finally, the proposed algorithm is applied to an optimal design of bearings in an all-direction propeller. The results show that the proposed algorithm is efficient and promising for optimization of the expensive problems.     

基于双粒子群算法的矿井搜救机器人路径规划

针对在复杂地形中标准的粒子群算法用于矿井搜救机器人路径规划存在迭代速度慢和求解精度低的问题,提出了一种基于双粒子群算法的矿井搜救机器人路径规划方法。首先将障碍物膨胀化处理为规则化多边形,以此建立环境模型,再以改进双粒子群算法作为路径寻优算法,当传感器检测到搜救机器人正前方一定距离内有障碍物时,开始运行双改进粒子群算法:改进学习因子的粒子群算法(CPSO)粒子步长大,适用于相对开阔地带寻找路径,而添加动态速度权重的粒子群算法(PPSO)粒子步长小,擅长在障碍物形状复杂多变地带寻找路径;然后评估2种粒子群算法得到的路径是否符合避障条件,若均符合避障条件,则选取最短路径作为最终路径;最后得到矿井搜救机器人在整个路况模型中的最优行驶路径。仿真结果表明,通过改进学习因子和添加动态速度权重提高了粒子群算法的收敛速度,降低了最优解波动幅度,改进的双粒子群算法能够与路径规划模型有效结合,在复杂路段能够寻找到最优路径,提高了路径规划成功率,缩短了路径长度。     

基于移动机器人的主动嗅觉技术研究

使用移动机器人来定位气味源已经成为一个研究热点,机器人主动嗅觉是指使用机器人自主发现并跟踪烟羽,最终确定气味源所在位置的技术。本文对当前主动嗅觉技术进行概述,并根据生物嗅觉行为介绍一种气味源定位算法,这种算法不依赖某一点气味浓度值,仅依靠气味浓度变化率就可找到气味源。并在高斯模型下对烟羽分布模型进行仿真。     

基于种群分区的多策略自适应多目标粒子群算法

在多目标粒子群优化算法中,平衡算法收敛性和多样性是获得良好分布和高精度Pareto前沿的关键,多数已提出的方法仅依靠一种策略引导粒子搜索,在解决复杂问题时算法收敛性和多样性不足.为解决这一问题,提出一种基于种群分区的多策略自适应多目标粒子群优化算法.采用粒子收敛性贡献对算法环境进行检测,自适应调整粒子的探索和开发过程;为准确制定不同性能的粒子的搜索策略,提出一种多策略的全局最优粒子选取方法和多策略的变异方法,根据粒子的收敛性评价指标,将种群划分为3个区域,将粒子性能与算法寻优过程结合,提升种群中各个粒子的搜索效率;为解决因选取的个体最优粒子不能有效指导粒子飞行方向,使算法停滞,陷入局部最优的问题,提出一种带有记忆区间的个体最优粒子选取方法,提升个体最优粒子选取的可靠性并加快粒子收敛过程;采用包含双性能测度的融合指标维护外部存档,避免仅根据粒子密度对外部存档维护时,删除收敛性较好的粒子,导致种群产生退化,影响粒子开发能力.仿真实验结果表明,与其他几种多目标优化算法相比,该算法具有良好的收敛性和多样性.     

基于离散粒子群算法的矩形件优化排样

目前,粒子群算法在连续问题优化上的应用已经很广泛,然而在离散问题优化方面仍处在尝试阶段.提出了一种改进粒子群算法来解决矩形件排样优化问题(离散优化问题).该算法融合了遗传算法中的交叉和变异思想,采用了信息交流策略,使其达到快速优化目的.算法也对"最低水平线法"解码方式进行了改进.实验结果表明,该算法具有快速,高效特点,与现有同类算法比较,在解决矩形件排样问题方面的优势明显.     

求解0-1整数规划的混合粒子群优化算法

经典的粒子群是一个有效的寻找连续函数极值的方法,结合遗传算法的思想提出的混合粒子群算法来解决0-1整数规划问题,经过比较测试,6种混合粒子群算法的效果都比较好,特别交叉策略A和变异策略C的混合粒子群算法是最好的且简单有效的算法.对于目前还没有好的解法的组合优化问题,很容易地修改此算法就可解决.     

A particle swarm–BFGS algorithm for nonlinear programming problems

This article proposes a hybrid optimization algorithm based on a modified BFGS and particle swarm optimization to solve medium scale nonlinear programs. The hybrid algorithm integrates the modified BFGS into particle swarm optimization to solve augmented Lagrangian penalty function. In doing so, the algorithm launches into a global search over the solution space while keeping a detailed exploration into the neighborhoods. To shed light on the merit of the algorithm, we provide a test bed consisting of 30 test problems to compare our algorithm against two of its variations along with two state-of-the-art nonlinear optimization algorithms. The numerical experiments illustrate that the proposed algorithm makes an effective use of hybrid framework when dealing with nonlinear equality constraints although its convergence cannot be guaranteed.     

一种改进的求解TSP混合粒子群优化算法

为解决粒子群算法在求解组合优化问题中存在的早熟性收敛和收敛速度慢等问题,将粒子群算法与局部搜索优化算法结合,可抑制粒子群算法早熟收敛问题,提高粒子群算法的收敛速度。通过建立有效的局部搜索优化算法所需借助的参照优化边集,提高了局部搜索优化算法的求解质量和求解效率。新的混合粒子群算法高效收敛于中小规模旅行商问题的全局最优解,实验表明改进的混合粒子群算法是有效的。