Autonomous mobile robot navigation is one of the most emerging areas of research by using swarm intelligence. Path planning and obstacle avoidance are most researched current topics like navigational challenges for mo...Autonomous mobile robot navigation is one of the most emerging areas of research by using swarm intelligence. Path planning and obstacle avoidance are most researched current topics like navigational challenges for mobile robot. The paper presents application and implementation of Firefly Algorithm(FA)for Mobile Robot Navigation(MRN) in uncertain environment. The uncertainty is defined over the changing environmental condition from static to dynamic. The attraction of one firefly towards the other firefly due to variation of their brightness is the key concept of the proposed study. The proposed controller efficiently explores the environment and improves the global search in less number of iterations and hence it can be easily implemented for real time obstacle avoidance especially for dynamic environment. It solves the challenges of navigation, minimizes the computational calculations, and avoids random moving of fireflies. The performance of proposed controller is better in terms of path optimality when compared to other intelligent navigational approaches.展开更多
多目标萤火虫算法采用整体维度更新策略,常因某几维变量上优化效果不佳,导致算法收敛速度慢和寻优精度低。针对上述问题,本文提出基于决策变量分组优化的多目标萤火虫算法(multi-objective firefly algorithm with group optimization o...多目标萤火虫算法采用整体维度更新策略,常因某几维变量上优化效果不佳,导致算法收敛速度慢和寻优精度低。针对上述问题,本文提出基于决策变量分组优化的多目标萤火虫算法(multi-objective firefly algorithm with group optimization of decision variables,MOFA-GD)。引入决策变量分组机制,根据各变量对算法性能的不同影响,将整体决策变量划分成收敛性变量组和多样性变量组;设计决策变量分组优化模型,利用学习行为优化收敛性变量组,加快种群收敛速度,非均匀变异算子优化多样性变量组,避免种群过早收敛,逐渐减小的变异幅度引导种群局部开发,提升算法寻优精度;采用档案截断策略维护外部档案,精准删除拥挤个体,从而保持外部档案的多样性。实验结果表明:MOFA-GD表现出优秀的收敛速度和寻优精度,获得了均匀分布的Pareto解集。本文所提算法为求解多目标优化问题提供了一种高效且可靠的解决方案。展开更多
针对光照强度不均匀造成光伏阵列的输出曲线为多峰曲线,传统最大功率点跟踪(Maximum Power Point Tracking,MPPT)控制算法不能跟踪到全局最大功率的问题,文章提出一种基于改进麻雀搜索算法(Improved the Sparrow Search Algorithm,ISSA...针对光照强度不均匀造成光伏阵列的输出曲线为多峰曲线,传统最大功率点跟踪(Maximum Power Point Tracking,MPPT)控制算法不能跟踪到全局最大功率的问题,文章提出一种基于改进麻雀搜索算法(Improved the Sparrow Search Algorithm,ISSA)和扰动观察法(Perturbation and Observation Method,P&O)的光储发电系统MPPT控制方法。首先,在跟踪前期,采用混沌映射方式增加ISSA种群多样性,提升算法广泛搜索能力。为了防止算法陷入局部最优,利用萤火虫扰动算法对麻雀个体进行扰动更新;其次,在跟踪后期,使用P&O防止系统在最大功率点附近振荡,保证最大功率点稳定输出;最后,经过算例分析,所提MPPT控制方法实现了不同场景下的快速跟踪、精准输出,能够很好应用地于光储混合发电系统中。展开更多
文摘Autonomous mobile robot navigation is one of the most emerging areas of research by using swarm intelligence. Path planning and obstacle avoidance are most researched current topics like navigational challenges for mobile robot. The paper presents application and implementation of Firefly Algorithm(FA)for Mobile Robot Navigation(MRN) in uncertain environment. The uncertainty is defined over the changing environmental condition from static to dynamic. The attraction of one firefly towards the other firefly due to variation of their brightness is the key concept of the proposed study. The proposed controller efficiently explores the environment and improves the global search in less number of iterations and hence it can be easily implemented for real time obstacle avoidance especially for dynamic environment. It solves the challenges of navigation, minimizes the computational calculations, and avoids random moving of fireflies. The performance of proposed controller is better in terms of path optimality when compared to other intelligent navigational approaches.
文摘多目标萤火虫算法采用整体维度更新策略,常因某几维变量上优化效果不佳,导致算法收敛速度慢和寻优精度低。针对上述问题,本文提出基于决策变量分组优化的多目标萤火虫算法(multi-objective firefly algorithm with group optimization of decision variables,MOFA-GD)。引入决策变量分组机制,根据各变量对算法性能的不同影响,将整体决策变量划分成收敛性变量组和多样性变量组;设计决策变量分组优化模型,利用学习行为优化收敛性变量组,加快种群收敛速度,非均匀变异算子优化多样性变量组,避免种群过早收敛,逐渐减小的变异幅度引导种群局部开发,提升算法寻优精度;采用档案截断策略维护外部档案,精准删除拥挤个体,从而保持外部档案的多样性。实验结果表明:MOFA-GD表现出优秀的收敛速度和寻优精度,获得了均匀分布的Pareto解集。本文所提算法为求解多目标优化问题提供了一种高效且可靠的解决方案。
文摘针对光照强度不均匀造成光伏阵列的输出曲线为多峰曲线,传统最大功率点跟踪(Maximum Power Point Tracking,MPPT)控制算法不能跟踪到全局最大功率的问题,文章提出一种基于改进麻雀搜索算法(Improved the Sparrow Search Algorithm,ISSA)和扰动观察法(Perturbation and Observation Method,P&O)的光储发电系统MPPT控制方法。首先,在跟踪前期,采用混沌映射方式增加ISSA种群多样性,提升算法广泛搜索能力。为了防止算法陷入局部最优,利用萤火虫扰动算法对麻雀个体进行扰动更新;其次,在跟踪后期,使用P&O防止系统在最大功率点附近振荡,保证最大功率点稳定输出;最后,经过算例分析,所提MPPT控制方法实现了不同场景下的快速跟踪、精准输出,能够很好应用地于光储混合发电系统中。
