基于粒子群三次样条优化的移动机器人路径规划算法

针对移动机器人路径规划问题,提出了一种基于粒子群三次样条优化的路径规划方法．借助三次样条 连接描述路径,这样将路径规划问题转化为三次样条曲线的参数优化问题．借助粒子群优化算法快速收敛和全局寻 优特性实现最优路径规划．实验结果表明：所提算法可以快速有效地实现障碍环境下机器人的无碰撞路径规划,规 划路径平滑,利于机器人的运动控制．     

基于改进PSO算法的机器人路径规划及实验

针对粒子群优化(PSO)算法存在的优化精度低以及早熟的缺点,提出一种改进的PSO算法用于机器人路径规划.根据梯度下降法中变量沿负梯度方向变化的原则,提出了改进的粒子速度更新模型.为了提高粒子的搜寻效率及精度,增加了自适应粒子位置更新系数.引入ε贪心策略设计了改进的粒子群优化算法.在部分优化测试函数上的多次试验结果表明,所提算法较其他算法模型搜索精度至少提高2倍,收敛速度也有大幅度的提升.将所提算法和改进的DC-HPSO(动态聚类混合粒子群优化)算法应用于静态障碍物下的路径规划仿真和实际试验,结果表明所提模型具有高精度、高效率、高成功率的优点.     

A heuristic method for learning Bayesian networks using discrete particle swarm optimization

Bayesian networks are a powerful approach for representing and reasoning under conditions of uncertainty. Many researchers aim to find good algorithms for learning Bayesian networks from data. And the heuristic search algorithm is one of the most effective algorithms. Because the number of possible structures grows exponentially with the number of variables, learning the model structure from data by considering all possible structures exhaustively is infeasible. PSO (particle swarm optimization), a powerful optimal heuristic search algorithm, has been applied in various fields. Unfortunately, the classical PSO algorithm only operates in continuous and real-valued space, and the problem of Bayesian networks learning is in discrete space. In this paper, two modifications of updating rules for velocity and position are introduced and a Bayesian networks learning based on binary PSO is proposed. Experimental results show that it is more efficient because only fewer generations are needed to obtain optimal Bayesian networks structures. In the comparison, this method outperforms other heuristic methods such as GA (genetic algorithm) and classical binary PSO.     

基于改进粒子群算法的移动机器人多目标点路径规划

针对移动机器人遍历多个目标点的路径规划问题,提出了一种基于改进粒子群算法和蚁群算法相结合的路径规划新方法。该方法将目标点的选择转化为旅行商问题,并利用蚁群算法进行优化,定义了每两个目标点之间的路径规划目标函数,利用粒子群算法对其进行优化。针对粒子群算法存在的早熟现象,将反向学习策略引入粒子群算法,并对粒子群算法的惯性权重和学习因子进行改进。性能测试结果表明,改进的粒子群算法能有效避免粒子早熟现象,提高粒子群算法的寻优能力及稳定性。仿真实验结果验证了新方法能有效地实现机器人的多目标点无碰撞路径规划。真实环境下的实验结果证明了新方法在机器人多目标点路径规划的实际应用中也具有有效性。     

A Monte Carlo Enhanced PSO Algorithm for Optimal QoM in Multi-Channel Wireless Networks

In wireless monitoring networks, wireless sniffers are distributed in a region to monitor the activities of users. It can be used for fault diagnosis, resource management and critical path analysis. Due to hardware limitations, wireless sniffers typically can only collect information on one channel at a time. Therefore, it is a key topic to optimize the channel selection for sniffers to maximize the information collected, so as to maximize the quality of monitoring (QoM) of the network. In this paper, a particle swarm optimization (PSO)-based solution is proposed to achieve the optimal channel selection. A2D mapping particle coding and its moving scheme are devised. Monte Carlo method is incorporated to revise the solution and significantly improve the convergence of the algorithm. The extensive simulations demonstrate that the Monte Carlo enhanced PSO (MC-PSO) algorithm outperforms the related algorithms evidently with higher monitoring quality, lower computation complexity, and faster convergence. The practical experiment also shows the feasibility of this algorithm.     

QoS multicast routing using a quantum-behaved particle swarm optimization algorithm

QoS multicast routing in networks is a very important research issue in networks and distributed systems. It is also a challenging and hard problem for high-performance networks of the next generation. Due to its NP-completeness, many heuristic methods have been employed to solve the problem. This paper proposes the modified quantum-behaved particle swarm optimization (QPSO) method for QoS multicast routing. In the proposed method, QoS multicast routing is converted into an integer programming problem with QoS constraints and is solved by the QPSO algorithm combined with loop deletion operation. The QPSO-based routing method, along with the routing algorithms based on particle swarm optimization (PSO) and genetic algorithm (GA), is tested on randomly generated network topologies for the purpose of performance evaluation. The simulation results show the efficiency of the proposed method on QoS the routing problem and its superiority to the methods based on PSO and GA.     

基于改进粒子群算法的移动机器人路径规划

为了提高复杂环境下移动机器人的精准导航作用,提出了移动机器人路径规划的改进粒子群优化(PSO)算法,即利用粒子个体极值的加权平均值,同时加入惯性权重.建立了移动机器人工作环境的栅格模型,利用Matlab软件进行移动机器人路径规划仿真分析.仿真结果表明:改进后的粒子群算法容易使粒子移动到最佳位置,加强了全局寻优能力,在复杂环境中搜索路径性能优于传统算法.     

一种障碍环境下机器人路径规划的蚁群粒子群算法

针对机器人在障碍环境下寻找最优路径问题, 提出了一种障碍环境下机器人路径规划的蚁群粒子群算法.该方法有效地结合了粒子群算法和蚁群算法的优点, 采用栅格法进行环境建模, 利用粒子群算法的快速简洁等特点得到蚁群算法初始信息素分布, 以减少迭代次数, 加快算法的收敛速度; 同时利用蚁群算法之间的可并行性, 采用分布式技术实现蚂蚁之间的并行搜索, 求解精度高等优点, 求精确解. 仿真实验结果证明了该方法的有效性, 是机器人路径规划的一种较好的方法.     

BP-MPSO混合算法在机器人空间路径中的应用

在对PUMA机器人空间路径进行BP算法环境建模与目标建模的基础上,针对传统粒子群优化（PSO）算法搜索空间有限、容易陷入局部最优点的缺陷,提出了一种改进的粒子群优化（MPSO）算法。该算法引入了基于全局信息反馈的重新初始化过程机制,并对PUMA机器人空间路径进行了优化。仿真实验表明,该算法的应用不仅降低了求解逆运动方程的难度,还能得到全局最优解。显著地提高了PUMA机器人空间路径优化的效率。     

Solving nonlinear optimal control problems using a hybrid IPSO-SQP algorithm

A hybrid algorithm by integrating an improved particle swarm optimization (IPSO) with successive quadratic programming (SQP), namely IPSO-SQP, is proposed for solving nonlinear optimal control problems. The particle swarm optimization (PSO) is showed to converge rapidly to a near optimum solution, but the search process will become very slow around global optimum. On the contrary, the ability of SQP is weak to escape local optimum but can achieve faster convergent speed around global optimum and the convergent accuracy can be higher. Hence, in the proposed method, at the beginning stage of search process, a PSO algorithm is employed to find a near optimum solution. In this case, an improved PSO (IPSO) algorithm is used to enhance global search ability and convergence speed of algorithm. When the change in fitness value is smaller than a predefined value, the searching process is switched to SQP to accelerate the search process and find an accurate solution. In this way, this hybrid algorithm may find an optimum solution more accurately. To validate the performance of the proposed IPSO-SQP approach, it is evaluated on two optimal control problems. Results show that the performance of the proposed algorithm is satisfactory.     

混合人工生命系统与粒子群算法的优化算法

提出-种混合人工生命系统和粒子群算法的优化算法.算法包括两个阶段,第1阶段创建人工生命系统,系统中的人工生物有感知系统,它们可以发现所需要的资源,并新陈代谢,人工生物之间互相交互,导致整个系统出现突现集群现象.通过人工生命系统形成的突现集群给粒子群算法提供优良的初始位置.第2阶段使用粒子群算法进一步寻找优化的最佳结果.最后以著名的Rosenbrock函数为例来证明该算法的优化能力,实验数据表明,该优化算法是有效的.     

受限空间自适应区域栅格化的优化路径规划

针对障碍物分布复杂、存在封闭边界的受限空间,提出一种环境自适应区域栅格化的优化路径规划算法.该算法首先将环境自适应划分为区域栅格,并提出阻碍度指标降低搜索空间的维度以优化区域栅格的划分;然后结合随机变异和定向变异,给出一种可有效平衡搜索效率与精度矛盾的多维变异粒子群优化算法;最后使用最小二乘曲线拟合方法对优化路径予以平滑处理.与非线性递减惯性权值粒子群算法（NDW-PSO）及组合粒子群算法（C-PSO）对比的仿真结果验证了所提出算法的先进性.     

Krill herd algorithm for optimal location of distributed generator in radial distribution system

Distributed generator (DG) is recognized as a viable solution for controlling line losses, bus voltage, voltage stability, etc. and represents a new era for distribution systems. This paper focuses on developing an approach for placement of DG in order to minimize the active power loss and energy loss of distribution lines while maintaining bus voltage and voltage stability index within specified limits of a given power system. The optimization is carried out on the basis of optimal location and optimal size of DG. This paper developed a new, efficient and novel krill herd algorithm (KHA) method for solving the optimal DG allocation problem of distribution networks. To test the feasibility and effectiveness, the proposed KH algorithm is tested on standard 33-bus, 69-bus and 118-bus radial distribution networks. The simulation results indicate that installing DG in the optimal location can significantly reduce the power loss of distributed power system. Moreover, the numerical results, compared with other stochastic search algorithms like genetic algorithm (GA), particle swarm optimization (PSO), combined GA and PSO (GA/PSO) and loss sensitivity factor simulated annealing (LSFSA), show that KHA could find better quality solutions.     

一类新颖的粒子群优化算法

粒子群优化(PSO)是一类有效的随机全局优化技术。它利用一个粒子群搜索解空间,每个粒子表示一个被优化问题的解,通过粒子间的相互作用发现复杂搜索空间中的最优区域。提出一类新颖的PSO算法,该算法在基本PSO算法的粒子位置更新公式中增加了一个积分控制项。积分控制项根据每个粒子的适应值决定粒子位置的变化,改善了PSO算法摆脱局部极小点的能力。另外,该算法增加了限制搜索空间范围的机制,这对某些函数优化问题是必需的。用5个基准函数做的对比实验结果显示,该算法优于基本PSO算法以及自适应修改惯性因子的PSO算法。     

基于蚁群粒子群融合的机器人路径规划算法

针对复杂环境下中移动机器人路径规划问题,提出了一种基于蚁群粒子群融合的路径规划算法。该算法首先利用粒子群路径规划的环境建模方法快速规划出起始点到目标点的初始路径。然后根据产生的路径进行信息素的分配,最后经改进的蚁群算法进行进一步寻优,从而找出最优路径。经仿真证明,该方法在寻得最优路径的基础上可大大降低寻优的时间,尤其是对于复杂环境下的路径规划,其效果尤为明显。     

一种蚂蚁粒子群融合的机器人路径规划新算法

研究了一种全新的蚂蚁粒子群融合的机器人路径规划算法。该方法首先用链接图建立机器人运动空间模型,在此基础上利用蚂蚁算法进行全局搜索得到全局导航路径,然后用粒子群算法局部调节全局导航路径上的路径点,得到更优路径。计算机仿真实验表明,即使在复杂的环境下,利用该算法也可以规划出一条全局优化路径,且能安全避障。     

基于改进PSO算法的移动机器人路径规划

针对粒子群优化(PSO)算法收敛速度快但容易陷入局部极值和细菌觅食优化(BFO)算法全局搜索能力强但效率低的问题,提出了一种将BFO算法的趋化、迁徙和复制操作引入到粒子群搜索过程的具有全局搜索能力和快速收敛的混合算法.在BFO算法和PSO算法的原理、操作步骤基础上,分别使用了PSO算法、BFO法和混合算法对移动机器人进行全局路径规划仿真试验,并分别给出了各算法的迭代次数、适应值曲线.仿真结果表明:与PSO算法和BFO算法相比,所提出的混合算法具有搜索时间短、迭代次数少的优点,较好验证了混合算法在移动机器人路径规划方面的可行性和有效性.     

An improved particle swarm optimization algorithm for flowshop scheduling problem

The flowshop scheduling problem has been widely studied and many techniques have been applied to it, but few algorithms based on particle swarm optimization (PSO) have been proposed to solve it. In this paper, an improved PSO algorithm (IPSO) based on the “alldifferent” constraint is proposed to solve the flow shop scheduling problem with the objective of minimizing makespan. It combines the particle swarm optimization algorithm with genetic operators together effectively. When a particle is going to stagnate, the mutation operator is used to search its neighborhood. The proposed algorithm is tested on different scale benchmarks and compared with the recently proposed efficient algorithms. The results show that the proposed IPSO algorithm is more effective and better than the other compared algorithms. It can be used to solve large scale flow shop scheduling problem effectively.     

Controlling the movement of crowds in computer graphics by using the mechanism of particle swarm optimization

This paper presents a uniform conceptual model to co-operate with particle swarm optimization (PSO) for controlling the movement of crowds in computer graphics. According to the PSO mechanism, each particle in the swarm adopts the information to automatically find a path from the initial position to the optimum. However, PSO aims to obtain the optimal solution instead of the searching path, while the purpose of this work concentrates on the control of the crowd movement, which is composed of the generated searching paths of particles. Hence, in order to generate seemingly natural, appropriate paths of people in a crowd, we propose a model to work with the computational facilities provided in PSO. Compared to related approaches previously presented in the literature, the proposed model is simple, uniform, and easy to implement. The results of the conducted simulations demonstrate that the coupling of PSO and the proposed technique can generate appropriate non-deterministic, non-colliding paths for the use in computer graphics for several different scenarios, including static and dynamic obstacles, moving targets, and multiple crowds.     

Haptic assisted aircraft optimal assembly path planning scheme based on swarming and artificial potential field approach

In this research, a novel near optimum automated rigid aircraft engine parts assembly path planning algorithm based on particle swarm optimization approach is proposed to solve the obstacle free assembly path planning process in a 3d haptic assisted environment. 3d path planning using valid assembly sequence information was optimized by combining particle swarm optimization algorithm enhanced by the potential field path planning concepts. Furthermore, the presented approach was compared with traditional particle swarm optimization algorithm (PSO), ant colony optimization algorithm (ACO) and genetic algorithm (CGA). Simulation results showed that the proposed algorithm has faster convergence rate towards the optimal solution and less computation time when compared with existing algorithms based on genetics and ant colony approach. To confirm the optimality of the proposed algorithm, it was further experimented in a haptic guided environment, where the users were assisted with haptic active guidance feature to perform the process opting the optimized assembly path. It was observed that the haptic guidance feature further reduced the overall task completion time.