Over the past few decades, various evolutionary algorithms (EAs) have been applied to the optimization design of water distribution systems (WDSs). An important research area is to compare the performance of these EAs, thereby offering guidance for the selection of the appropriate EAs for practical implementations. Such comparisons are mainly based on the final solution statistics and, hence, are unable to provide knowledge on how different EAs reach the final optimal solutions and why different EAs performed differently in identifying optimal solutions. To this end, this paper aims to compare the real-time searching behaviour of three widely used EAs, which are genetic algorithms (GAs), the differential evolution (DE) algorithm and the ant colony optimization (ACO). These three EAs are applied to five WDS benchmarking case studies with different scales and complexities, and a set of five metrics are used to measure their run-time searching quality and convergence properties. Results show that the run-time metrics can effectively reveal the underlying searching mechanisms associated with each EA, which significantly goes beyond the knowledge from the traditional end-of-run solution statistics. It is observed that the DE is able to identify better solutions if moderate and large computational budgets are allowed due to its great ability in maintaining the balance between the exploration and exploitation. However, if the computational resources are rather limited or the decision has to be made in a very short time (e.g., real-time WDS operation), the GA can be a good choice as it can always identify better solutions than the DE and ACO at the early searching stages. Based on the results, the ACO performs the worst for the five case study considered. The outcome of this study is the offer of guidance for the algorithm selection based on the available computation resources, as well as knowledge into the EA’s underlying searching behaviours.
A survey on evolutionary-aided design in robotics
