Minimum Distance and Minimum Time Optimal Path Planning with Bioinspired Machine Learning Algorithms for Impaired Unmanned Air Vehicles

Unmanned air vehicles operate in highly dynamic and unknown environments where they can encounter unexpected and unseen failures. In the presence of emergencies, autonomous unmanned air vehicles should be able to land at a minimum distance or minimum time. Impaired unmanned air vehicles define actuator failures and this impairment changes their unstable and uncertain dynamics; henceforth, path planning algorithms must be adaptive and model-free. In addition, path planning optimization problems must consider the unavoidable actuator saturations, kinematic and dynamic constraints for successful real-time applications. Therefore, this paper develops 3D path planning algorithms for quadrotors with parametric uncertainties and various constraints. In this respect, this paper constructs a multi-dimensional particle swarm optimization and a multi-dimensional genetic algorithm to plan paths for translational, rotational, and Euler angles and generates the corresponding control signals. The algorithms are assessed and compared both in the simulation and experimental environments. Results show that the multi-dimensional genetic algorithm produces shorter minimum distance and minimum time paths under the constraints. The real-time experiments prove that the quadrotor exactly follows the produced path utilizing the available maximum rotor speeds

A clustering particle swarm optimizer for dynamic optimization

This article is posted here with permission of the IEEE - Copyright @ 2009 IEEEIn the real world, many applications are nonstationary optimization problems. This requires that optimization algorithms need to not only find the global optimal solution but also track the trajectory of the changing global best solution in a dynamic environment. To achieve this, this paper proposes a clustering particle swarm optimizer (CPSO) for dynamic optimization problems. The algorithm employs hierarchical clustering method to track multiple peaks based on a nearest neighbor search strategy. A fast local search method is also proposed to find the near optimal solutions in a local promising region in the search space. Six test problems generated from a generalized dynamic benchmark generator (GDBG) are used to test the performance of the proposed algorithm. The numerical experimental results show the efficiency of the proposed algorithm for locating and tracking multiple optima in dynamic environments.This work was supported by the Engineering and Physical Sciences Research Council (EPSRC) of the United Kingdom under Grant EP/E060722/1

Fast multi-swarm optimization for dynamic optimization problems

This article is posted here with permission of IEEE - Copyright @ 2008 IEEEIn the real world, many applications are non-stationary optimization problems. This requires that the optimization algorithms need to not only find the global optimal solution but also track the trajectory of the changing global best solution in a dynamic environment. To achieve this, this paper proposes a multi-swarm algorithm based on fast particle swarm optimization for dynamic optimization problems. The algorithm employs a mechanism to track multiple peaks by preventing overcrowding at a peak and a fast particle swarm optimization algorithm as a local search method to find the near optimal solutions in a local promising region in the search space. The moving peaks benchmark function is used to test the performance of the proposed algorithm. The numerical experimental results show the efficiency of the proposed algorithm for dynamic optimization problems

A particle swarm optimization based memetic algorithm for dynamic optimization problems

Copyright @ Springer Science + Business Media B.V. 2010.Recently, there has been an increasing concern from the evolutionary computation community on dynamic optimization problems since many real-world optimization problems are dynamic. This paper investigates a particle swarm optimization (PSO) based memetic algorithm that hybridizes PSO with a local search technique for dynamic optimization problems. Within the framework of the proposed algorithm, a local version of PSO with a ring-shape topology structure is used as the global search operator and a fuzzy cognition local search method is proposed as the local search technique. In addition, a self-organized random immigrants scheme is extended into our proposed algorithm in order to further enhance its exploration capacity for new peaks in the search space. Experimental study over the moving peaks benchmark problem shows that the proposed PSO-based memetic algorithm is robust and adaptable in dynamic environments.This work was supported by the National Nature Science Foundation of China (NSFC) under Grant No. 70431003 and Grant No. 70671020, the National Innovation Research Community Science Foundation of China under Grant No. 60521003, the National Support Plan of China under Grant No. 2006BAH02A09 and the Ministry of Education, science, and Technology in Korea through the Second-Phase of Brain Korea 21 Project in 2009, the Engineering and Physical Sciences Research Council (EPSRC) of UK under Grant EP/E060722/01 and the Hong Kong Polytechnic University Research Grants under Grant G-YH60

Compound particle swarm optimization in dynamic environments

Copyright @ Springer-Verlag Berlin Heidelberg 2008.Adaptation to dynamic optimization problems is currently receiving a growing interest as one of the most important applications of evolutionary algorithms. In this paper, a compound particle swarm optimization (CPSO) is proposed as a new variant of particle swarm optimization to enhance its performance in dynamic environments. Within CPSO, compound particles are constructed as a novel type of particles in the search space and their motions are integrated into the swarm. A special reflection scheme is introduced in order to explore the search space more comprehensively. Furthermore, some information preserving and anti-convergence strategies are also developed to improve the performance of CPSO in a new environment. An experimental study shows the efficiency of CPSO in dynamic environments.This work was supported by the Key Program of the National Natural Science Foundation (NNSF) of China under Grant No. 70431003 and Grant No. 70671020, the Science Fund for Creative Research Group of NNSF of China under Grant No. 60521003, the National Science and Technology Support Plan of China under Grant No. 2006BAH02A09 and the Engineering and Physical Sciences Research Council (EPSRC) of UK under Grant No. EP/E060722/1

Force-imitated particle swarm optimization using the near-neighbor effect for locating multiple optima

Copyright @ Elsevier Inc. All rights reserved.Multimodal optimization problems pose a great challenge of locating multiple optima simultaneously in the search space to the particle swarm optimization (PSO) community. In this paper, the motion principle of particles in PSO is extended by using the near-neighbor effect in mechanical theory, which is a universal phenomenon in nature and society. In the proposed near-neighbor effect based force-imitated PSO (NN-FPSO) algorithm, each particle explores the promising regions where it resides under the composite forces produced by the “near-neighbor attractor” and “near-neighbor repeller”, which are selected from the set of memorized personal best positions and the current swarm based on the principles of “superior-and-nearer” and “inferior-and-nearer”, respectively. These two forces pull and push a particle to search for the nearby optimum. Hence, particles can simultaneously locate multiple optima quickly and precisely. Experiments are carried out to investigate the performance of NN-FPSO in comparison with a number of state-of-the-art PSO algorithms for locating multiple optima over a series of multimodal benchmark test functions. The experimental results indicate that the proposed NN-FPSO algorithm can efficiently locate multiple optima in multimodal fitness landscapes.This work was supported in part by the Key Program of National Natural Science Foundation (NNSF) of China under Grant 70931001, Grant 70771021, and Grant 70721001, the National Natural Science Foundation (NNSF) of China for Youth under Grant 61004121, Grant 70771021, the Science Fund for Creative Research Group of NNSF of China under Grant 60821063, the PhD Programs Foundation of Ministry of Education of China under Grant 200801450008, and in part by the Engineering and Physical Sciences Research Council (EPSRC) of UK under Grant EP/E060722/1 and Grant EP/E060722/2

Particle swarm optimization with composite particles in dynamic environments

This article is placed here with the permission of IEEE - Copyright @ 2010 IEEEIn recent years, there has been a growing interest in the study of particle swarm optimization (PSO) in dynamic environments. This paper presents a new PSO model, called PSO with composite particles (PSO-CP), to address dynamic optimization problems. PSO-CP partitions the swarm into a set of composite particles based on their similarity using a "worst first" principle. Inspired by the composite particle phenomenon in physics, the elementary members in each composite particle interact via a velocity-anisotropic reflection scheme to integrate valuable information for effectively and rapidly finding the promising optima in the search space. Each composite particle maintains the diversity by a scattering operator. In addition, an integral movement strategy is introduced to promote the swarm diversity. Experiments on a typical dynamic test benchmark problem provide a guideline for setting the involved parameters and show that PSO-CP is efficient in comparison with several state-of-the-art PSO algorithms for dynamic optimization problems.This work was supported in part by the Key Program of the National Natural Science Foundation (NNSF) of China under Grant 70931001 and 70771021, the Science Fund for Creative Research Group of the NNSF of China under Grant 60821063 and 70721001, the Ph.D. Programs Foundation of the Ministry of education of China under Grant 200801450008, and by the Engineering and Physical Sciences Research Council of U.K. under Grant EP/E060722/1