Ant colony optimization based simulation of 3d automatic hose/pipe routing

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.This thesis focuses on applying one of the rapidly growing non-deterministic optimization algorithms, the ant colony algorithm, for simulating automatic hose/pipe routing with several conflicting objectives. Within the thesis, methods have been developed and applied to single objective hose routing, multi-objective hose routing and multi-hose routing. The use of simulation and optimization in engineering design has been widely applied in all fields of engineering as the computational capabilities of computers has increased and improved. As a result of this, the application of non-deterministic optimization techniques such as genetic algorithms, simulated annealing algorithms, ant colony algorithms, etc. has increased dramatically resulting in vast improvements in the design process. Initially, two versions of ant colony algorithms have been developed based on, respectively, a random network and a grid network for a single objective (minimizing the length of the hoses) and avoiding obstacles in the CAD model. While applying ant colony algorithms for the simulation of hose routing, two modifications have been proposed for reducing the size of the search space and avoiding the stagnation problem. Hose routing problems often consist of several conflicting or trade-off objectives. In classical approaches, in many cases, multiple objectives are aggregated into one single objective function and optimization is then treated as a single-objective optimization problem. In this thesis two versions of ant colony algorithms are presented for multihose routing with two conflicting objectives: minimizing the total length of the hoses and maximizing the total shared length (bundle length). In this case the two objectives are aggregated into a single objective. The current state-of-the-art approach for handling multi-objective design problems is to employ the concept of Pareto optimality. Within this thesis a new Pareto-based general purpose ant colony algorithm (PSACO) is proposed and applied to a multi-objective hose routing problem that consists of the following objectives: total length of the hoses between the start and the end locations, number of bends, and angles of bends. The proposed method is capable of handling any number of objectives and uses a single pheromone matrix for all the objectives. The domination concept is used for updating the pheromone matrix. Among the currently available multi-objective ant colony optimization (MOACO) algorithms, P-ACO generates very good solutions in the central part of the Pareto front and hence the proposed algorithm is compared with P-ACO. A new term is added to the random proportional rule of both of the algorithms (PSACO and P-ACO) to attract ants towards edges that make angles close to the pre-specified angles of bends. A refinement algorithm is also suggested for searching an acceptable solution after the completion of searching the entire search space. For all of the simulations, the STL format (tessellated format) for the obstacles is used in the algorithm instead of the original shapes of the obstacles. This STL format is passed to the C++ library RAPID for collision detection. As a result of using this format, the algorithms can handle freeform obstacles and the algorithms are not restricted to a particular software package

A review: On using ACO based hybrid algorithms for path planning of Multi-Mobile Robotics

The path planning for Multi Mobile Robotic (MMR) system is a recent combinatorial optimisation problem. In the last decade, many researches have been published to solve this problem. Most of these researches focused on metaheuristic algorithms. This paper reviews articles on Ant Colony Optimisation (ACO) and its hybrid versions to solve the problem. The original Dorigo’s ACO algorithm uses exploration and exploitation phases to find the shortest route in a combinatorial optimisation problem in general without touching mapping, localisation and perception. Due to the properties of MMR, adaptations have been made to ACO algorithms. In this review paper, a literature survey of the recent studies on upgrading, modifications and applications of the ACO algorithms has been discussed to evaluate the application of the different versions of ACO in the MMR domain. The evaluation considered the quality, speed of convergence, robustness, scalability, flexibility of MMR and obstacle avoidance, static and dynamic environment characteristics of the tasks

An enhanced ant colony system algorithm for dynamic fault tolerance in grid computing

Fault tolerance in grid computing allows the system to continue operate despite occurrence of failure. Most fault tolerance algorithms focus on fault handling techniques such as task reprocessing, checkpointing, task replication, penalty, and task migration. Ant colony system (ACS), a variant of ant colony optimization (ACO), is one of the promising algorithms for fault tolerance due to its ability to adapt to both static and dynamic combinatorial optimization problems. However, ACS algorithm does not consider the resource fitness during task scheduling which leads to poor load balancing and lower execution success rate. This research proposes dynamic ACS fault tolerance with suspension (DAFTS) in grid computing that focuses on providing effective fault tolerance techniques to improve the execution success rate and load balancing. The proposed algorithm consists of dynamic evaporation rate, resource fitness-based scheduling process, enhanced pheromone update with trust factor and suspension, and checkpoint-based task reprocessing. The research framework consists of four phases which are identifying fault tolerance techniques, enhancing resource assignment and job scheduling, improving fault tolerance algorithm and, evaluating the performance of the proposed algorithm. The proposed algorithm was developed in a simulated grid environment called GridSim and evaluated against other fault tolerance algorithms such as trust-based ACO, fault tolerance ACO, ACO without fault tolerance and ACO with fault tolerance in terms of total execution time, average latency, average makespan, throughput, execution success rate and load balancing. Experimental results showed that the proposed algorithm achieved the best performance in most aspects, and second best in terms of load balancing. The DAFTS achieved the smallest increase on execution time, average makespan and average latency by 7%, 11% and 5% respectively, and smallest decrease on throughput and execution success rate by 6.49% and 9% respectively as the failure rate increases. The DAFTS also achieved the smallest increment on execution time, average makespan and average latency by 5.8, 8.5 and 8.7 times respectively, and highest increase on throughput and highest execution success rate by 72.9% and 93.7% respectively as the number of jobs increases. The proposed algorithm can effectively overcome load balancing problems and increase execution success rates in distributed systems that are prone to faults

Ant colony optimization based simulation of 3d automatic hose/pipe routing

This thesis focuses on applying one of the rapidly growing non-deterministic optimization algorithms, the ant colony algorithm, for simulating automatic hose/pipe routing with several conflicting objectives. Within the thesis, methods have been developed and applied to single objective hose routing, multi-objective hose routing and multi-hose routing. The use of simulation and optimization in engineering design has been widely applied in all fields of engineering as the computational capabilities of computers has increased and improved. As a result of this, the application of non-deterministic optimization techniques such as genetic algorithms, simulated annealing algorithms, ant colony algorithms, etc. has increased dramatically resulting in vast improvements in the design process. Initially, two versions of ant colony algorithms have been developed based on, respectively, a random network and a grid network for a single objective (minimizing the length of the hoses) and avoiding obstacles in the CAD model. While applying ant colony algorithms for the simulation of hose routing, two modifications have been proposed for reducing the size of the search space and avoiding the stagnation problem. Hose routing problems often consist of several conflicting or trade-off objectives. In classical approaches, in many cases, multiple objectives are aggregated into one single objective function and optimization is then treated as a single-objective optimization problem. In this thesis two versions of ant colony algorithms are presented for multihose routing with two conflicting objectives: minimizing the total length of the hoses and maximizing the total shared length (bundle length). In this case the two objectives are aggregated into a single objective. The current state-of-the-art approach for handling multi-objective design problems is to employ the concept of Pareto optimality. Within this thesis a new Pareto-based general purpose ant colony algorithm (PSACO) is proposed and applied to a multi-objective hose routing problem that consists of the following objectives: total length of the hoses between the start and the end locations, number of bends, and angles of bends. The proposed method is capable of handling any number of objectives and uses a single pheromone matrix for all the objectives. The domination concept is used for updating the pheromone matrix. Among the currently available multi-objective ant colony optimization (MOACO) algorithms, P-ACO generates very good solutions in the central part of the Pareto front and hence the proposed algorithm is compared with P-ACO. A new term is added to the random proportional rule of both of the algorithms (PSACO and P-ACO) to attract ants towards edges that make angles close to the pre-specified angles of bends. A refinement algorithm is also suggested for searching an acceptable solution after the completion of searching the entire search space. For all of the simulations, the STL format (tessellated format) for the obstacles is used in the algorithm instead of the original shapes of the obstacles. This STL format is passed to the C++ library RAPID for collision detection. As a result of using this format, the algorithms can handle freeform obstacles and the algorithms are not restricted to a particular software package.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Heterogeneous Ant Colony Optimisation Methods and their Application to the Travelling Salesman and PCB Drilling Problems

Ant Colony Optimization (ACO) is an optimization algorithm that is inspired by the foraging behaviour of real ants in locating and transporting food source to their nest. It is designed as a population-based metaheuristic and have been successfully implemented on various NP-hard problems such as the well-known Traveling Salesman Problem (TSP), Vehicle Routing Problem (VRP) and many more. However, majority of the studies in ACO focused on homogeneous artificial ants although animal behaviour researchers suggest that real ants exhibit heterogeneous behaviour thus improving the overall efficiency of the ant colonies. Equally important is that most, if not all, optimization algorithms require proper parameter tuning to achieve optimal performance. However, it is well-known that parameters are problem-dependant as different problems or even different instances have different optimal parameter settings. Parameter tuning through the testing of parameter combinations is a computationally expensive procedure that is infeasible on large-scale real-world problems. One method to mitigate this is to introduce heterogeneity by initializing the artificial agents with individual parameters rather than colony level parameters. This allows the algorithm to either actively or passively discover good parameter settings during the search. The approach undertaken in this study is to randomly initialize the ants from both uniform and Gaussian distribution respectively within a predefined range of values. The approach taken in this study is one of biological plausibility for ants with similar roles, but differing behavioural traits, which are being drawn from a mathematical distribution. This study also introduces an adaptive approach to the heterogeneous ant colony population that evolves the alpha and beta controlling parameters for ACO to locate near-optimal solutions. The adaptive approach is able to modify the exploitation and exploration characteristics of the algorithm during the search to reflect the dynamic nature of search. An empirical analysis of the proposed algorithm tested on a range of Travelling Salesman Problem (TSP) instances shows that the approach has better algorithmic performance when compared against state-of-the-art algorithms from the literature

Ant colony optimization for agile motion planning

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2006.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Includes bibliographical references (p. 67-69).With the need for greater autonomy in unmanned vehicles growing, design of algorithms for mission-level planning becomes essential. The general field of motion planning for unmanned vehicles falls into this category. Of particular interest is the case of operating in hostile environments with unknown threat locations. When a threat appears, a replan must be quickly formulated and executed. The use of terrain masking to hide from the threat is a vital tactic, which a good algorithm should exploit. In addition, the algorithm should be able to accommodate large search spaces and non-linear objective functions. This thesis investigates the suitability of the Ant Colony Optimization (ACO) heuristic for the agile vehicle motion planning problem. An ACO implementation tailored to the motion planning problem was designed and tested against an existing genetic algorithm solution method for validation. Results show that ACO is indeed a viable option for real-time trajectory generation. ACO' ability to incorporate heuristic information, and its method of solution construction, make it better suited to motion planning problems than existing methods.by Tom Krenzke.S.M