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Velocity planning serves as an important issue in motion planning for autonomous vehicles. The presented paper proposes a novel velocity planning method with minimum moving time on the basis of path curvature which is accomplished in three steps. First, the assigned path is divided into some elementary parts based on the path curvature. Second, the velocity planning is transformed into an unconstrained optimization problem by assuming the velocity of vehicle to be a specific cubic polynomial on every elementary part to avoid a sudden acceleration in path switching. Finally, we use a modified projection particle swarm optimization (PPSO) algorithm to obtain the time-optimal velocity profile. The proposed method can generate a smooth time-optimal velocity profile while considering all possible relevant constraints. Three examples are provided on different types of path to demonstrate that the final velocity profile is efficient to avoid the sudden acceleration change. Furthermore, the modified PPSO algorithm in this paper is used to solve the optimization problem with high dimensional variables when its upper bound is known, which can not be achieved by the general PPSO algorithm. [ABSTRACT FROM AUTHOR]

In this paper, optimization of a linear objective function subject to a generalized fuzzy relational inequalities is investigated in which an arbitrary continuous t-norm is considered as fuzzy composition, and fuzzy inequality replaces ordinary inequality in the constraints. Unlike most optimization algorithms, in fuzzy relational inequalities with fuzzy constraints (FRI-FC) we find a near-feasible solution having a better objective value than those resulting from the resolution of the similar problems with crisp (ordinary) inequality constraints. Such solutions are called super-optima in this paper. Subsequently, an algorithm is proposed to find a super-optimum with pre-specified desirable infeasibility. For this purpose, we firstly study some structural properties of the FRI-FC problem and present a new formulization that is independent of t-norms used in the constraints of the problem. This new formulation converts the primary problem into an equivalent problem with simple constraints without considering any penalty parameters. However, it is proved that the transformed equivalent problem enables our algorithm to distinguish unfavorable points and generate a sequence of solutions converging to a super-optimum under a certain sufficient condition. Finally, a modified PSO is presented in which the ability of PSO to solve unconstrained problems with continuous domain, the structure of the transformed problem and some fuzzy structural modifications are combined and form an efficient algorithm to solve the generalized FRI-FC problems. The modified PSO algorithm has been applied to the generalized FRI-FC problem defined with ten well-known continuous t-norms. Additionally, an idea of the FRI-FC problems as outer approximators for FRI problems with ordinary inequalities is also investigated. [ABSTRACT FROM AUTHOR]

In this paper, a dynamic mentoring scheme along with a self-regulation scheme have been incorporated in the standard Particle Swarm Optimization (PSO) algorithm to empower the searching particles with human-like characteristics. The algorithm is referred to as a Dynamic Mentoring and Self-Regulation based Particle Swarm Optimization (DMeSR-PSO) algorithm. Based on their experiences, the particles are divided into three groups, viz., the mentor group, the mentee group and the independent learner group where the number of particles in each group is dynamically changing in every iteration. In human learning psychology, mentoring is regarded as a powerful and effective learning process and independent learners are the ones who do not need mentoring and are capable of performing self-regulation of their own knowledge. Therefore, the particles in each of the above three groups have different learning strategies for their velocity updates where the mentors are equipped with a strong self-belief based search, the mentees are taking guidance from the mentors and the independent learners employ self-perception strategy. The DMeSR-PSO algorithm has been extensively evaluated using the simple unimodal and multimodal benchmark functions from CEC2005, more complex shifted and rotated benchmark functions fromCEC2013 and also based on eight real- world problems from CEC2011. The results have been compared with six state-of-the-art PSO variants and five meta-heuristic algorithms for the CEC2005 problems. Further, a comparative analysis on CEC2013 benchmark functions with different PSO variants has also been presented. Finally, DMeSR-PSO's performance on the real-world problems is compared with the top two algorithms from the CEC2011 competition. The results indicate that the proposed learning strategies help DMeSR-PSO to achieve faster convergence and provide better solutions in most of the problems with a 95% confidence level, yielding an effective optimization algorithm for real-world applications. [ABSTRACT FROM AUTHOR]