Comparative Research on Robot Path Planning Based on GA-ACA and ACA-GA

The path planning for mobile robots is one of the core contents in the field of robotics research with complex, restrictive and nonlinear characteristics. It consists of automatically determining a path from an initial position of the robot to its final position. Due to classic approaches have several drawbacks, evolutionary methods such as Ant Colony Optimization Algorithm (ACA) and Genetic Algorithm (GA) are employed to solve the path planning efficiently

A Hybrid Lehmer Code Genetic Algorithm and Its Application on Traveling Salesman Problems

Traveling Salesman Problems (TSP) is a widely studied combinatorial optimization problem. The goal of the TSP is to find a tour which begins in a specific city, visits each of the remaining cities once and returns to the initial cities such that the objective functions are optimized, typically involving minimizing functions like total distance traveled, total time used or total cost. Genetic algorithms were first proposed by John Holland (1975). It uses an iterative procedure to find the optimal solutions to optimization problems. This research proposed a hybrid Lehmer code Genetic Algorithm. To compensate for the weaknesses of traditional genetic algorithms in exploitation while not hampering its ability in exploration, this new genetic algorithm will combine genetic algorithm with 2-opt and non-sequential 3-opt heuristics. By using Lehmer code representation, the solutions created by crossover parent solutions are always feasible. The new algorithm was used to solve single objective and multi-objectives Traveling Salesman Problems. A non Pareto-based technique will be used to solve multi-objective TSPs. Specifically we will use the Target Vector Approach. In this research, we used the weighted Tchebycheff function with the ideal points as the reference points as the objective function to evaluate solutions, while the local search heuristics, the 2-opt and non-sequential 3-opt heuristics, were guided by a weighted sum function

Robot Path Planning with IGA-MMAS and MMAS-IGA

Path Planning of mobile robots is one of the essential tasks in robotic research and studies with intelligent technologies. It helps in determining the path from a source to the destination. It has extended its roots from classic approaches to further improvements over time, such as evolutionary approaches. Ant Colony Optimization (ACO) and Genetic algorithm are well known evolutionary approaches in effective path planning. This research work focuses on the Max-Min Ant System (MMAS) derived from the ACO evolutionary approach of Ant System (AS) and Improved Genetic Algorithm (IGA) which is efficient over the classical Genetic Algorithm. In-order to study robot path planning two methods are combined in this research work combining MMAS and IGA as two-hybrid methods MMAS-IGA and IGA-MMAS . The results of the two-hybrid methods will be deriving the near optimal solution, demonstrated in the experimental study of this work. Grid maps are used for simulating the robot path planning environment which is modeled using the grid method. Genetic operators of IGA are combined with MMAS for the enhancement of the overall result of the methods IGA-MMAS and MMAS-IGA. The effectiveness of these two methods will be determined in the simulation modeled using MATLAB environment. The experimental results of these methods are done in a static environment and the results of MMAS-IGA and IGA-MMAS are compared to the path planning method GA-ACO

The tabu ant colony optimizer and its application in an energy market

A new ant colony optimizer, the \u27tabu ant colony optimizer\u27 (TabuACO) is introduced, tested, and applied to a contemporary problem. The TabuACO uses both attractive and repulsive pheromones to speed convergence to a solution. The dual pheromone TabuACO is benchmarked against several other solvers using the traveling salesman problem (TSP), the quadratic assignment problem (QAP), and the Steiner tree problem. In tree-shaped puzzles, the dual pheromone TabuACO was able to demonstrate a significant improvement in performance over a conventional ACO. As the amount of connectedness in the network increased, the dual pheromone TabuACO offered less improvement in performance over the conventional ACO until it was applied to fully-interconnected mesh-shaped puzzles, where it offered no improvement. The TabuACO is then applied to implement a transactive energy market and tested with published circuit models from IEEE and EPRI. In the IEEE feeder model, the application was able to limit the sale of power through an overloaded transformer and compensate by bringing downstream power online to relieve it. In the EPRI feeder model, rapid voltage changes due to clouds passing over PV arrays caused the PV contribution to outstrip the ability of the substation to compensate. The TabuACO application was able to find a manageable limit to the photovoltaic energy that could be contributed on a cloudy day --Abstract, page iii