A Hybrid PSO Based on Dynamic Clustering for Global Optimization

Particle swarm optimization is a population-based global search method, and known to suffer from premature convergence prior to discovering the true global minimizer for global optimization problems. Taking balance of local intensive exploitation and global exploration into account, a novel algorithm is presented in the paper, called dynamic clustering hybrid particle swarm optimization (DC-HPSO). In the method, particles are constantly and dynamically clustered into several groups (sub-swarms) corresponding to promising sub-regions in terms of similarity of their generalized particles. In each group, a dominant particle is chosen to take responsibility for local intensive exploitation, while the rest are responsible for exploration by maintaining diversity of the swarm. The simultaneous perturbation stochastic approximation (SPSA) is introduced into our work in order to guarantee the implementation of exploitation and the standard PSO is modified for exploration. The experimental results show the efficiency of the proposed algorithm in comparison with several other peer algorithms

Wolf Search Algorithm for Solving Optimal Reactive Power Dispatch Problem

This paper presents a new bio-inspired heuristic optimization algorithm called the Wolf Search Algorithm (WSA) for solving the multi-objective reactive power dispatch problem. Wolf Search algorithm is a new bio – inspired heuristic algorithm which based on wolf preying behaviour. The way wolves search for food and survive by avoiding their enemies has been imitated to formulate the algorithm for solving the reactive power dispatches. And the speciality  of wolf is  possessing  both individual local searching ability and autonomous flocking movement and this special property has been utilized to formulate the search algorithm .The proposed (WSA) algorithm has been tested on standard IEEE 30 bus test system and simulation results shows clearly about the good performance of the proposed algorithm

Diminution of Real Power Loss by Hybridization of Particle Swarm Optimization with Extremal Optimization

This paper presents an algorithm for solving the multi-objective reactive power dispatch problem in a power system. Modal analysis of the system is used for static voltage stability assessment. Loss minimization and maximization of voltage stability margin are taken as the objectives. Generator terminal voltages, reactive power generation of the capacitor banks and tap changing transformer setting are taken as the optimization variables. Particle swarm optimization (PSO) has received increasing interest from the optimization community due to its simplicity in implementation and its inexpensive computational overhead. However, PSO has premature convergence, especially in complex multimodal functions. Extremal Optimization (EO) is a recently developed local-search heuristic method and has been successfully applied to a wide variety of hard optimization problems. To overcome the limitation of PSO, this paper proposes a novel hybrid algorithm, called hybrid PSO-EO algorithm, through introducing EO to PSO. The hybrid approach elegantly combines the exploration ability of PSO with the exploitation ability of EO. The proposed approach is shown to have superior performance and great capability of preventing pre- mature convergence across it comparing favourably with the other algorithms. We demonstrated that our proposed HPSOEO (hybrid particle swarm optimization – Extremal optimization) presents a better performance when compared to the other algorithms. In order to evaluate the proposed algorithm, it has been tested on IEEE 30 bus system and compared to other algorithms reported those before in literature. Results show that HPSOEO is more efficient than others for solution of single-objective Optimal Reactive Power Dispatch problem. Keywords: Modal analysis, optimal reactive power, Transmission loss, particle swarm, Particle swarm optimization, Extremal optimization, Numerical optimization, Metaheuristic

Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

Genetic learning particle swarm optimization

Social learning in particle swarm optimization (PSO) helps collective efficiency, whereas individual reproduction in genetic algorithm (GA) facilitates global effectiveness. This observation recently leads to hybridizing PSO with GA for performance enhancement. However, existing work uses a mechanistic parallel superposition and research has shown that construction of superior exemplars in PSO is more effective. Hence, this paper first develops a new framework so as to organically hybridize PSO with another optimization technique for “learning.” This leads to a generalized “learning PSO” paradigm, the *L-PSO. The paradigm is composed of two cascading layers, the first for exemplar generation and the second for particle updates as per a normal PSO algorithm. Using genetic evolution to breed promising exemplars for PSO, a specific novel *L-PSO algorithm is proposed in the paper, termed genetic learning PSO (GL-PSO). In particular, genetic operators are used to generate exemplars from which particles learn and, in turn, historical search information of particles provides guidance to the evolution of the exemplars. By performing crossover, mutation, and selection on the historical information of particles, the constructed exemplars are not only well diversified, but also high qualified. Under such guidance, the global search ability and search efficiency of PSO are both enhanced. The proposed GL-PSO is tested on 42 benchmark functions widely adopted in the literature. Experimental results verify the effectiveness, efficiency, robustness, and scalability of the GL-PSO