Mobile Robot Path Planning in an Obstacle-free Static Environment using Multiple Optimization Algorithms

This article presents the implementation and comparison of fruit fly optimization (FOA), ant colony optimization (ACO) and particle swarm optimization (PSO) algorithms in solving the mobile robot path planning problem. FOA is one of the newest nature-inspired algorithms while PSO and ACO has been in existence for a long time. PSO has been shown by other studies to have long search time while ACO have fast convergence speed. Therefore there is need to benchmark FOA performance with these older nature-inspired algorithms. The objective is to find an optimal path in an obstacle free static environment from a start point to the goal point using the aforementioned techniques. The performance of these algorithms was measured using three criteria: average path length, average computational time and average convergence speed. The results show that the fruit fly algorithm produced shorter path length (19.5128 m) with faster convergence speed (3149.217 m/secs) than the older swarm intelligence algorithms. The computational time of the algorithms were in close range, with ant colony optimization having the minimum (0.000576 secs). Keywords:  Swarm intelligence, Fruit Fly algorithm, Ant Colony Optimization, Particle Swarm Optimization, optimal path, mobile robot

Optimal Path Finding With Beetle Antennae Search Algorithm by Using Ant Colony Optimization Initialization and Different Searching Strategies

Intelligent algorithm acts as one of the most important solutions to path planning problem. In order to solve the problems of poor real-time and low accuracy of the heuristic optimization algorithm in 3D path planning, this paper proposes a novel heuristic intelligent algorithm derived from the Beetle Antennae Search (BAS) algorithm. The algorithm proposed in this paper has the advantages of wide search range and high search accuracy, and can still maintain a low time complexity when multiple mechanisms are introduced. This paper combines the BAS algorithm with three non-trivial mechanisms proposed to solve the problems of low search efficiency and poor convergence accuracy in 3D path planning. The algorithm contains three non-trivial mechanisms, including local fast search, aco initial path generation, and searching information orientation. At first, local fast search mechanism presents a specific bounded area and add fast iterative exploration to speed up the convergence of path finding. Then aco initial path generation mechanism is initialized by Ant Colony Optimization (ACO) as a pruning basis. The initialization of the ACO algorithm can quickly obtain an effective path. Using the exploration trend of this path, the algorithm can quickly obtain a locally optimal path. Thirdly, searching information orientation mechanism is employed for BAS algorithm to guarantee the stability of the path finding, thereby avoiding blind exploration and reducing wasted computing resources. Simulation results show that the algorithm proposed in this paper has higher search accuracy and exploration speed than other intelligent algorithms, and improves the adaptability of the path planning algorithms in different environments. The effectiveness of the proposed algorithm is verified in simulation

High-performance Kernel Machines with Implicit Distributed Optimization and Randomization

In order to fully utilize "big data", it is often required to use "big models". Such models tend to grow with the complexity and size of the training data, and do not make strong parametric assumptions upfront on the nature of the underlying statistical dependencies. Kernel methods fit this need well, as they constitute a versatile and principled statistical methodology for solving a wide range of non-parametric modelling problems. However, their high computational costs (in storage and time) pose a significant barrier to their widespread adoption in big data applications. We propose an algorithmic framework and high-performance implementation for massive-scale training of kernel-based statistical models, based on combining two key technical ingredients: (i) distributed general purpose convex optimization, and (ii) the use of randomization to improve the scalability of kernel methods. Our approach is based on a block-splitting variant of the Alternating Directions Method of Multipliers, carefully reconfigured to handle very large random feature matrices, while exploiting hybrid parallelism typically found in modern clusters of multicore machines. Our implementation supports a variety of statistical learning tasks by enabling several loss functions, regularization schemes, kernels, and layers of randomized approximations for both dense and sparse datasets, in a highly extensible framework. We evaluate the ability of our framework to learn models on data from applications, and provide a comparison against existing sequential and parallel libraries.Comment: Work presented at MMDS 2014 (June 2014) and JSM 201

Binary Fruit Fly Swarm Algorithms for the Set Covering Problem

Currently, the industry is experiencing an exponential increase in dealing with binary-based combinatorial problems. In this sense, metaheuristics have been a common trend in the field in order to design approaches to solve them successfully. Thus, a well-known strategy consists in the use of algorithms based on discrete swarms transformed to perform in binary environments. Following the No Free Lunch theorem, we are interested in testing the performance of the Fruit Fly Algorithm, this is a bio-inspired metaheuristic for deducing global optimization in continuous spaces, based on the foraging behavior of the fruit fly, which usually has much better sensory perception of smell and vision than any other species. On the other hand, the Set Coverage Problem is a well-known NP-hard problem with many practical applications, including production line balancing, utility installation, and crew scheduling in railroad and mass transit companies. In this paper, we propose different binarization methods for the Fruit Fly Algorithm, using S-shaped and V-shaped transfer functions and various discretization methods to make the algorithm work in a binary search space. We are motivated with this approach, because in this way we can deliver to future researchers interested in this area, a way to be able to work with continuous metaheuristics in binary domains. This new approach was tested on benchmark instances of the Set Coverage Problem and the computational results show that the proposed algorithm is robust enough to produce good results with low computational cost.publishedVersio

Adaptive Grey Wolf Optimization Technique for Stock Index Price Prediction on Recurring Neural Network Variants

In this paper, we propose a Long short-term memory (LSTM) and Adaptive Grey Wolf Optimization (GWO)--based hybrid model for predicting the stock prices of the Major Indian stock indices, i.e., Sensex. The LSTM is an advanced neural network that handles uncertain, nonlinear, and sequential data. The challenges are its weight and bias optimization. The classical backpropagation has issues of dangling on local minima or overfitting the dataset. Thus, we propose a GWO-based hybrid approach to evolve the weights and biases of the LSTM and the dense layers. We have made the GWO more robust by introducing an approach to improve the best possible solution by using the optimal ranking of the wolves. The proposed model combines the GWO with Adam Optimizer to train the LSTM. Apart from the LSTM, we have also implemented the Adaptive GWO on other variants of Recurring Neural Networks (RNN) like LSTM, Bi-Directional LSTM, Gated Recurrent Units (GRU), and Bi-Directional GRU and computed the corresponding results. The Adaptive GWO here evolves the initial weights and biases of the above-discussed neural networks. In this research, we have also compared the forecasting efficiency of our proposed work with a particle-warm optimization (PSO) based hybrid LSTM model, simple Grey-wolf Optimization (GWO), and Adaptive PSO. According to the experimental findings, the suggested model has effectively used the best initial weights, and its results are the best overall