13,718 research outputs found
WALL-FOLLOWING BEHAVIOR-BASED MOBILE ROBOT USING PARTICLE SWARM FUZZY CONTROLLER
Behavior-based control architecture has been broadly recognized due to their compentence in mobile robot development. Fuzzy logic system characteristics are appropriate to address the behavior design problems. Nevertheless, there are problems encountered when setting fuzzy variables manually. Consequently, most of the efforts in the field, produce certain works for the study of fuzzy systems with added learning abilities. This paper presents the improvement of fuzzy behavior-based control architecture using Particle Swarm Optimization (PSO). A wall-following behaviors used on Particle Swarm Fuzzy Controller (PSFC) are developed using the modified PSO with two stages of the PSFC process. Several simulations have been accomplished to analyze the algorithm. The promising performance have proved that the proposed control architecture for mobile robot has better capability to accomplish useful task in real office-like environment
Goal-seeking Behavior-based Mobile Robot Using Particle Swarm Fuzzy Controller
Behavior-based control architecture has successfully demonstrated their competence in mobile robot development. Fuzzy logic system characteristics are suitable to address the behavior design problems. However, there are difficulties encountered when setting fuzzy parameters manually. Therefore, most of the works in the field generate certain interest for the study of fuzzy systems with added learning capabilities. This paper presents the development of fuzzy behavior-based control architecture using Particle Swarm Optimization (PSO). A goal-seeking behaviors based on Particle Swarm Fuzzy Controller (PSFC) are developed using the modified PSO with two stages of the PSFC process. Several simulations and experiments with MagellanPro mobile robot have been performed to analyze the performance of the algorithm. The promising results have proved that the proposed control architecture for mobile robot has better capability to accomplish useful task in real office-like environment
Adaptive particle swarm optimization
An adaptive particle swarm optimization (APSO) that features better search efficiency than classical particle swarm optimization (PSO) is presented. More importantly, it can perform a global search over the entire search space with faster convergence speed. The APSO consists of two main steps. First, by evaluating the population distribution and particle fitness, a real-time evolutionary state estimation procedure is performed to identify one of the following four defined evolutionary states, including exploration, exploitation, convergence, and jumping out in each generation. It enables the automatic control of inertia weight, acceleration coefficients, and other algorithmic parameters at run time to improve the search efficiency and convergence speed. Then, an elitist learning strategy is performed when the evolutionary state is classified as convergence state. The strategy will act on the globally best particle to jump out of the likely local optima. The APSO has comprehensively been evaluated on 12 unimodal and multimodal benchmark functions. The effects of parameter adaptation and elitist learning will be studied. Results show that APSO substantially enhances the performance of the PSO paradigm in terms of convergence speed, global optimality, solution accuracy, and algorithm reliability. As APSO introduces two new parameters to the PSO paradigm only, it does not introduce an additional design or implementation complexity
Fuzzy Adaptive Tuning of a Particle Swarm Optimization Algorithm for Variable-Strength Combinatorial Test Suite Generation
Combinatorial interaction testing is an important software testing technique
that has seen lots of recent interest. It can reduce the number of test cases
needed by considering interactions between combinations of input parameters.
Empirical evidence shows that it effectively detects faults, in particular, for
highly configurable software systems. In real-world software testing, the input
variables may vary in how strongly they interact, variable strength
combinatorial interaction testing (VS-CIT) can exploit this for higher
effectiveness. The generation of variable strength test suites is a
non-deterministic polynomial-time (NP) hard computational problem
\cite{BestounKamalFuzzy2017}. Research has shown that stochastic
population-based algorithms such as particle swarm optimization (PSO) can be
efficient compared to alternatives for VS-CIT problems. Nevertheless, they
require detailed control for the exploitation and exploration trade-off to
avoid premature convergence (i.e. being trapped in local optima) as well as to
enhance the solution diversity. Here, we present a new variant of PSO based on
Mamdani fuzzy inference system
\cite{Camastra2015,TSAKIRIDIS2017257,KHOSRAVANIAN2016280}, to permit adaptive
selection of its global and local search operations. We detail the design of
this combined algorithm and evaluate it through experiments on multiple
synthetic and benchmark problems. We conclude that fuzzy adaptive selection of
global and local search operations is, at least, feasible as it performs only
second-best to a discrete variant of PSO, called DPSO. Concerning obtaining the
best mean test suite size, the fuzzy adaptation even outperforms DPSO
occasionally. We discuss the reasons behind this performance and outline
relevant areas of future work.Comment: 21 page
A Review on Energy Consumption Optimization Techniques in IoT Based Smart Building Environments
In recent years, due to the unnecessary wastage of electrical energy in
residential buildings, the requirement of energy optimization and user comfort
has gained vital importance. In the literature, various techniques have been
proposed addressing the energy optimization problem. The goal of each technique
was to maintain a balance between user comfort and energy requirements such
that the user can achieve the desired comfort level with the minimum amount of
energy consumption. Researchers have addressed the issue with the help of
different optimization algorithms and variations in the parameters to reduce
energy consumption. To the best of our knowledge, this problem is not solved
yet due to its challenging nature. The gap in the literature is due to the
advancements in the technology and drawbacks of the optimization algorithms and
the introduction of different new optimization algorithms. Further, many newly
proposed optimization algorithms which have produced better accuracy on the
benchmark instances but have not been applied yet for the optimization of
energy consumption in smart homes. In this paper, we have carried out a
detailed literature review of the techniques used for the optimization of
energy consumption and scheduling in smart homes. The detailed discussion has
been carried out on different factors contributing towards thermal comfort,
visual comfort, and air quality comfort. We have also reviewed the fog and edge
computing techniques used in smart homes
Generating Interpretable Fuzzy Controllers using Particle Swarm Optimization and Genetic Programming
Autonomously training interpretable control strategies, called policies,
using pre-existing plant trajectory data is of great interest in industrial
applications. Fuzzy controllers have been used in industry for decades as
interpretable and efficient system controllers. In this study, we introduce a
fuzzy genetic programming (GP) approach called fuzzy GP reinforcement learning
(FGPRL) that can select the relevant state features, determine the size of the
required fuzzy rule set, and automatically adjust all the controller parameters
simultaneously. Each GP individual's fitness is computed using model-based
batch reinforcement learning (RL), which first trains a model using available
system samples and subsequently performs Monte Carlo rollouts to predict each
policy candidate's performance. We compare FGPRL to an extended version of a
related method called fuzzy particle swarm reinforcement learning (FPSRL),
which uses swarm intelligence to tune the fuzzy policy parameters. Experiments
using an industrial benchmark show that FGPRL is able to autonomously learn
interpretable fuzzy policies with high control performance.Comment: Accepted at Genetic and Evolutionary Computation Conference 2018
(GECCO '18
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
Impact of noise on a dynamical system: prediction and uncertainties from a swarm-optimized neural network
In this study, an artificial neural network (ANN) based on particle swarm
optimization (PSO) was developed for the time series prediction. The hybrid
ANN+PSO algorithm was applied on Mackey--Glass chaotic time series in the
short-term . The performance prediction was evaluated and compared with
another studies available in the literature. Also, we presented properties of
the dynamical system via the study of chaotic behaviour obtained from the
predicted time series. Next, the hybrid ANN+PSO algorithm was complemented with
a Gaussian stochastic procedure (called {\it stochastic} hybrid ANN+PSO) in
order to obtain a new estimator of the predictions, which also allowed us to
compute uncertainties of predictions for noisy Mackey--Glass chaotic time
series. Thus, we studied the impact of noise for several cases with a white
noise level () from 0.01 to 0.1.Comment: 11 pages, 8 figure
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