Chaotic artificial bee colony approach to step planning of maintaining balance for quadruped robot

2014 ◽  
Vol 7 (2) ◽  
pp. 175-191 ◽  
Author(s):  
Qinan Luo ◽  
Haibin Duan
Keyword(s):  
Artificial Bee Colony ◽  
Contact Point ◽  
Optimization Method ◽  
Global Optimum ◽  
Quadruped Robot ◽  
Experimental Results ◽  
Local Optimum ◽  
Herd Behavior ◽  
Content Type ◽  
Bee Colony

Purpose – Artificial bee colony (ABC) algorithm is a relatively new optimization method inspired by the herd behavior of honey bees, which shows quite intelligence. The purpose of this paper is to propose an improved ABC optimization algorithm based on chaos theory for solving the push recovery problem of a quadruped robot, which can tune the controller parameters based on its search mechanism. ADAMS simulation environment is adopted to implement the proposed scheme for the quadruped robot. Design/methodology/approach – Maintaining balance is a rather complicated global optimum problem for a quadruped robot which is about seeking a foot contact point prevents itself from falling down. To ensure the stability of the intelligent robot control system, the intelligent optimization method is employed. The proposed chaotic artificial bee colony (CABC) algorithm is based on basic ABC, and a chaotic mechanism is used to help the algorithm to jump out of the local optimum as well as finding the optimal parameters. The implementation procedure of our proposed chaotic ABC approach is described in detail. Findings – The proposed CABC method is applied to a quadruped robot in ADAMS simulator. Using the CABC to implement, the quadruped robot can work smoothly under the interference. A comparison among the basic ABC and CABC is made. Experimental results verify a better trajectory tracking response can be achieved by the proposed CABC method after control parameters training. Practical implications – The proposed CABC algorithm can be easily applied to practice and can steer the robot during walking, which will considerably increase the autonomy of the robot. Originality/value – The proposed CABC approach is interesting for the optimization of a control scheme for quadruped robot. A parameter training methodology, using the presented intelligent algorithm is proposed to increase the learning capability. The experimental results verify the system stabilization, favorable performance and no chattering phenomena can be achieved by using the proposed CABC algorithm. And, the proposed CABC methodology can be easily extended to other applications.

Satellite formation keeping via chaotic artificial bee colony

2017 ◽  
Vol 89 (2) ◽  
pp. 246-256 ◽  
Author(s):  
Soyinka Olukunle Kolawole ◽  
Duan Haibin
Keyword(s):  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Feedback Controller ◽  
Experimental Results ◽  
Effective Control ◽  
Satellite Formation ◽  
Content Type ◽  
Optimal Feedback ◽  
Bee Colony ◽  
J2 Perturbation

Purpose Keeping satellite position within close tolerances is key for the utilization of satellite formations for space missions. The presence of perturbation forces makes control inevitable if such mission objective is to be realised. Various approaches have been used to obtain feedback controller parameters for satellites in a formation; this paper aims to approach the problem of estimating the optimal feedback parameter for a leader–follower pair of satellites in a small eccentric orbit using nature-based search algorithms. Design/methodology/approach The chaotic artificial bee colony algorithm is a variant of the basic artificial bee colony algorithm. The algorithm mimics the behaviour of bees in their search for food sources. This paper uses the algorithm in optimizing feedback controller parameters for a satellite formation control problem. The problem is formulated to optimize the controller parameters while minimizing a fuel- and state-dependent cost function. The dynamical model of the satellite is based on Gauss variational equations with J2 perturbation. Detailed implementation of the procedure is provided, and experimental results of using the algorithm are also presented to show feasibility of the method. Findings The experimental results indicate the feasibility of this approach, clearly showing the effective control of the transients that arise because of J2 perturbation. Originality/value This paper applied a swarm intelligence approach to the problem of estimating optimal feedback control parameter for a pair of satellites in a formation.

scholarly journals Chaotic Artificial Bee Colony Algorithm for System Identification of a Small-Scale Unmanned Helicopter

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Li Ding ◽  
Hongtao Wu ◽  
Yu Yao
Keyword(s):  
System Identification ◽  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
State Space Model ◽  
Global Optimum ◽  
Small Scale ◽  
Local Optimum ◽  
Unmanned Helicopter ◽  
Bee Colony ◽  
Chaotic Operator

The purpose of this paper is devoted to developing a chaotic artificial bee colony algorithm (CABC) for the system identification of a small-scale unmanned helicopter state-space model in hover condition. In order to avoid the premature of traditional artificial bee colony algorithm (ABC), which is stuck in local optimum and can not reach the global optimum, a novel chaotic operator with the characteristics of ergodicity and irregularity was introduced to enhance its performance. With input-output data collected from actual flight experiments, the identification results showed the superiority of CABC over the ABC and the genetic algorithm (GA). Simulations are presented to demonstrate the effectiveness of our proposed algorithm and the accuracy of the identified helicopter model.

Sentiment Analysis on Microblogging with K-Means Clustering and Artificial Bee Colony

2019 ◽  
Vol 18 (03) ◽  
pp. 1950017 ◽  
Author(s):  
Korawit Orkphol ◽  
Wu Yang
Keyword(s):  
Artificial Bee Colony ◽  
Clustering Algorithm ◽  
Global Optimum ◽  
High Dimensional ◽  
Local Optimum ◽  
Short Message ◽  
Initial State ◽  
Bee Colony ◽  
Analysis Technique ◽  
Value Decomposition

Microblogging is a type of blog used by people to express their opinions, attitudes, and feelings toward entities with a short message and this message is easily shared through the network of connected people. Knowing their sentiments would be beneficial for decision-making, planning, visualization, and so on. Grouping similar microblogging messages can convey some meaningful sentiments toward an entity. This task can be accomplished by using a simple and fast clustering algorithm, [Formula: see text]-means. As the microblogging messages are short and noisy they cause high sparseness and high-dimensional dataset. To overcome this problem, term frequency–inverse document frequency (tf–idf) technique is employed for selecting the relevant features, and singular value decomposition (SVD) technique is employed for reducing the high-dimensional dataset while still retaining the most relevant features. These two techniques adjust dataset to improve the [Formula: see text]-means efficiently. Another problem comes from [Formula: see text]-means itself. [Formula: see text]-means result relies on the initial state of centroids, the random initial state of centroids usually causes convergence to a local optimum. To find a global optimum, artificial bee colony (ABC), a novel swarm intelligence algorithm, is employed to find the best initial state of centroids. Silhouette analysis technique is also used to find optimal [Formula: see text]. After clustering into [Formula: see text] groups, each group will be scored by SentiWordNet and we analyzed the sentiment polarities of each group. Our approach shows that combining various techniques (i.e., tf–idf, SVD, and ABC) can significantly improve [Formula: see text]-means result (41% from normal [Formula: see text]-means).

An improved artificial bee colony algorithm for robust design of power system stabilizers

2017 ◽  
Vol 34 (7) ◽  
pp. 2131-2153 ◽  
Author(s):  
Tawfik Guesmi ◽  
Badr M. Alshammari
Keyword(s):  
Power System ◽  
Artificial Bee Colony ◽  
Random Search ◽  
Optimization Method ◽  
System Stability ◽  
Large Set ◽  
Power System Stabilizers ◽  
Content Type ◽  
Bee Colony ◽  
Cauchy Operator

Purpose Low-frequency oscillations of 0.1 to 3 Hz are prejudicial to the power system stability. Within this context, this study aims to present an improved artificial bee colony (ABC)-based algorithm for optimal setting of multimachine power system stabilizers (PSSs) under several loading conditions simultaneously. Design/methodology/approach The proposed approach symbolized by GCABC incorporates the grenade explosion technique and the Cauchy operator in the employed bee and onlooker bee phases to avoid random search. The parameters of the grenade explosion method and Cauchy operator based ABC(GCABC)-based PSSs (GCABC-PSSs) are tuned to place all undamped and lightly damped electromechanical modes in a prespecified zone in the s-plan. Findings Simulation results based on eigenvalue analysis and nonlinear time-domain simulation show the potential and the dominance of the proposed controllers GCABC-PSSs in the improvement of the system stability under several disturbances and large set of operating points compared with the classical ABC method and genetic algorithm-based PSSs. Originality/value The novelty of the study is to efficiently implement a new optimization method called GCABC for an optimum design of PSSs. The design problem is formulated as a multi-objective optimization problem. In addition, all PSS parameters have been included in the space research.

scholarly journals Artificial Bee Colony Algorithm Combined with Grenade Explosion Method and Cauchy Operator for Global Optimization

2015 ◽  
Vol 2015 ◽  
pp. 1-14 ◽  
Author(s):  
Jian-Guo Zheng ◽  
Chao-Qun Zhang ◽  
Yong-Quan Zhou
Keyword(s):  
Global Optimization ◽  
Honey Bees ◽  
Artificial Bee Colony ◽  
Global Optimum ◽  
Local Optimum ◽  
Bee Colony ◽  
Explosion Method ◽  
Accelerate Convergence ◽  
Cauchy Operator ◽  
Intelligence Technique

Artificial bee colony (ABC) algorithm is a popular swarm intelligence technique inspired by the intelligent foraging behavior of honey bees. However, ABC is good at exploration but poor at exploitation and its convergence speed is also an issue in some cases. To improve the performance of ABC, a novel ABC combined with grenade explosion method (GEM) and Cauchy operator, namely, ABCGC, is proposed. GEM is embedded in the onlooker bees’ phase to enhance the exploitation ability and accelerate convergence of ABCGC; meanwhile, Cauchy operator is introduced into the scout bees’ phase to help ABCGC escape from local optimum and further enhance its exploration ability. Two sets of well-known benchmark functions are used to validate the better performance of ABCGC. The experiments confirm that ABCGC is significantly superior to ABC and other competitors; particularly it converges to the global optimum faster in most cases. These results suggest that ABCGC usually achieves a good balance between exploitation and exploration and can effectively serve as an alternative for global optimization.

Hybrid artificial bee colony and glow worm algorithm for energy efficient cluster head selection in wireless sensor networks

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Jasleen Kaur ◽  
Punam Rani ◽  
Brahm Prakash Dahiya
Keyword(s):  
Artificial Bee Colony ◽  
Cluster Head ◽  
Sensor Nodes ◽  
Wireless Sensor ◽  
Cluster Head Selection ◽  
Swarm Optimization ◽  
Content Type ◽  
Bee Colony ◽  
Glowworm Swarm Optimization ◽  
Optimal Cluster

Purpose This paper aim to find optimal cluster head and minimize energy wastage in WSNs. Wireless sensor networks (WSNs) have low power sensor nodes that quickly lose energy. Energy efficiency is most important factor in WSNs, as they incorporate limited sized batteries that would not be recharged or replaced. The energy possessed by the sensor nodes must be optimally used so as to increase the lifespan. The research is proposing hybrid artificial bee colony and glowworm swarm optimization [Hybrid artificial bee colony and glowworm swarm optimization (HABC-GSO)] algorithm to select the cluster heads. Previous research has considered fitness-based glowworm swarm with Fruitfly (FGF) algorithm, but existing research was limited to maximizing network lifetime and energy efficiency. Design/methodology/approach The proposed HABC-GSO algorithm selects global optima and improves convergence ratio. It also performs optimal cluster head selection by balancing between exploitation and exploration phases. The simulation is performed in MATLAB. Findings The HABC-GSO performance is evaluated with existing algorithms such as particle swarm optimization, GSO, Cuckoo Search, Group Search Ant Lion with Levy Flight, Fruitfly Optimization algorithm and grasshopper optimization algorithm, a new FGF in the terms of alive nodes, normalized energy, cluster head distance and delay. Originality/value This research work is original.

scholarly journals Particle Swarm and Bacterial Foraging Inspired Hybrid Artificial Bee Colony Algorithm for Numerical Function Optimization

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Li Mao ◽  
Yu Mao ◽  
Changxi Zhou ◽  
Chaofeng Li ◽  
Xiao Wei ◽  
...  
Keyword(s):  
Artificial Bee Colony ◽  
Optimization Problems ◽  
Particle Swarm ◽  
Function Optimization ◽  
Local Optimum ◽  
Search Range ◽  
Bacterial Foraging Optimization ◽  
Numerical Function ◽  
Bacterial Foraging ◽  
Bee Colony

Artificial bee colony (ABC) algorithm has good performance in discovering the optimal solutions to difficult optimization problems, but it has weak local search ability and easily plunges into local optimum. In this paper, we introduce the chemotactic behavior of Bacterial Foraging Optimization into employed bees and adopt the principle of moving the particles toward the best solutions in the particle swarm optimization to improve the global search ability of onlooker bees and gain a hybrid artificial bee colony (HABC) algorithm. To obtain a global optimal solution efficiently, we make HABC algorithm converge rapidly in the early stages of the search process, and the search range contracts dynamically during the late stages. Our experimental results on 16 benchmark functions of CEC 2014 show that HABC achieves significant improvement at accuracy and convergence rate, compared with the standard ABC, best-so-far ABC, directed ABC, Gaussian ABC, improved ABC, and memetic ABC algorithms.

Stellar Mass Black Hole for Engineering Optimization

2017 ◽  
pp. 62-90
Author(s):  
Premalatha Kandhasamy ◽  
Balamurugan R ◽  
Kannimuthu S
Keyword(s):  
Black Hole ◽  
Artificial Bee Colony ◽  
Optimization Problems ◽  
Optimal Solution ◽  
Cuckoo Search ◽  
Optimization Method ◽  
Stellar Mass ◽  
Bee Colony ◽  
Nature Inspired Algorithms ◽  
The Universe

In recent years, nature-inspired algorithms have been popular due to the fact that many real-world optimization problems are increasingly large, complex and dynamic. By reasons of the size and complexity of the problems, it is necessary to develop an optimization method whose efficiency is measured by finding the near optimal solution within a reasonable amount of time. A black hole is an object that has enough masses in a small enough volume that its gravitational force is strong enough to prevent light or anything else from escaping. Stellar mass Black hole Optimization (SBO) is a novel optimization algorithm inspired from the property of the gravity's relentless pull of black holes which are presented in the Universe. In this paper SBO algorithm is tested on benchmark optimization test functions and compared with the Cuckoo Search, Particle Swarm Optimization and Artificial Bee Colony systems. The experiment results show that the SBO outperforms the existing methods.

scholarly journals Artificial Bee Colony Optimizer with Bee-to-Bee Communication and Multipopulation Coevolution for Multilevel Threshold Image Segmentation

2015 ◽  
Vol 2015 ◽  
pp. 1-23 ◽  
Author(s):  
Jun-yi Li ◽  
Yi-ding Zhao ◽  
Jian-hua Li ◽  
Xiao-jun Liu
Keyword(s):  
Image Segmentation ◽  
Information Exchange ◽  
Artificial Bee Colony ◽  
Experimental Results ◽  
New Method ◽  
Communication Pattern ◽  
Communication Model ◽  
Von Neumann ◽  
Bee Colony ◽  
Segmentation Problem

This paper proposes a modified artificial bee colony optimizer (MABC) by combining bee-to-bee communication pattern and multipopulation cooperative mechanism. In the bee-to-bee communication model, with the enhanced information exchange strategy, individuals can share more information from the elites through the Von Neumann topology. With the multipopulation cooperative mechanism, the hierarchical colony with different topologies can be structured, which can maintain diversity of the whole community. The experimental results on comparing the MABC to several successful EA and SI algorithms on a set of benchmarks demonstrated the advantage of the MABC algorithm. Furthermore, we employed the MABC algorithm to resolve the multilevel image segmentation problem. Experimental results of the new method on a variety of images demonstrated the performance superiority of the proposed algorithm.

Global search in single-solution-based metaheuristics

2020 ◽  
Vol 54 (3) ◽  
pp. 275-296 ◽  
Author(s):  
Najmeh Sadat Jaddi ◽  
Salwani Abdullah
Keyword(s):  
Search Space ◽  
Population Based ◽  
Global Optimum ◽  
Global Search ◽  
Hill Climbing ◽  
Search Process ◽  
Local Optimum ◽  
Content Type ◽  
Solution Algorithms ◽  
Single Solution

PurposeMetaheuristic algorithms are classified into two categories namely: single-solution and population-based algorithms. Single-solution algorithms perform local search process by employing a single candidate solution trying to improve this solution in its neighborhood. In contrast, population-based algorithms guide the search process by maintaining multiple solutions located in different points of search space. However, the main drawback of single-solution algorithms is that the global optimum may not reach and it may get stuck in local optimum. On the other hand, population-based algorithms with several starting points that maintain the diversity of the solutions globally in the search space and results are of better exploration during the search process. In this paper more chance of finding global optimum is provided for single-solution-based algorithms by searching different regions of the search space.Design/methodology/approachIn this method, different starting points in initial step, searching locally in neighborhood of each solution, construct a global search in search space for the single-solution algorithm.FindingsThe proposed method was tested based on three single-solution algorithms involving hill-climbing (HC), simulated annealing (SA) and tabu search (TS) algorithms when they were applied on 25 benchmark test functions. The results of the basic version of these algorithms were then compared with the same algorithms integrated with the global search proposed in this paper. The statistical analysis of the results proves outperforming of the proposed method. Finally, 18 benchmark feature selection problems were used to test the algorithms and were compared with recent methods proposed in the literature.Originality/valueIn this paper more chance of finding global optimum is provided for single-solution-based algorithms by searching different regions of the search space.

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