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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]

Abstract: In recent years, many different variants of the particle swarm optimizer (PSO) for solving optimization problems have been proposed. However, PSO has an inherent drawback in handling constrained problems, mainly because of its complexity and dependency on parameters. Furthermore, one PSO variant may perform well for some test problems but not obtain good results for others. In this paper, our purpose is to develop a new PSO algorithm that can efficiently solve a variety of constrained optimization problems. It considers a mix of different PSO variants each of which evolves with a different number of individuals from the current population. In each generation, the algorithm assigns more individuals to the better-performing variants and fewer to the worse-performing ones. Also, a new PSO variant is developed for use in the proposed algorithm to maintain a better balance between its local and global PSO versions. A new methodology for adapting PSO parameters is presented and the proposed self-adaptive PSO algorithm tested and analyzed on two sets of test problems, namely the CEC2006 and CEC2010 constrained optimization problems. Based on the results, the proposed algorithm shows significantly better performance than the same global and local PSO variants as well as other-state-of-the-art algorithms. Although, based on our analysis, it cannot guarantee an optimal solution for any unknown problem, it is expected to be able to solve a wide variety of practical problems. [Copyright &y& Elsevier]

Abstract: In recent years, the Particle Swarm Optimization has rapidly gained increasing popularity and many variants and hybrid approaches have been proposed to improve it. In this paper, motivated by the behavior and the spatial characteristics of the social and cognitive experience of each particle in the swarm, we develop a hybrid framework that combines the Particle Swarm Optimization and the Differential Evolution algorithm. Particle Swarm Optimization has the tendency to distribute the best personal positions of the swarm particles near to the vicinity of problem’s optima. In an attempt to efficiently guide the evolution and enhance the convergence, we evolve the personal experience or memory of the particles with the Differential Evolution algorithm, without destroying the search capabilities of the algorithm. The proposed framework can be applied to any Particle Swarm Optimization algorithm with minimal effort. To evaluate the performance and highlight the different aspects of the proposed framework, we initially incorporate six classic Differential Evolution mutation strategies in the canonical Particle Swarm Optimization, while afterwards we employ five state-of-the-art Particle Swarm Optimization variants and four popular Differential Evolution algorithms. Extensive experimental results on 25 high dimensional multimodal benchmark functions along with the corresponding statistical analysis, suggest that the hybrid variants are very promising and significantly improve the original algorithms in the majority of the studied cases. [Copyright &y& Elsevier]

Abstract: This paper focuses on the identification problem of nonlinear discrete-time systems using Volterra filter series model. Generally, to update the kernels of Volterra model, the most commonly used method is the gradient adaptive algorithm. However, this method probably traps at the local minimum for searching parameter solutions. In this study, a new intelligence swarm computation of the global search is considered. We utilize an improved particle swarm optimization (IPSO) algorithm to design the Volterra kernel parameters. It is somewhat different from the original algorithm due to modifying its velocity updating formula and this can promote the algorithmʼs searching ability for solving the optimization problem. Using the IPSO algorithm to minimize the mean square error (MSE) between the actual output and model output, the identification problem for nonlinear discrete-time systems can be fulfilled. Finally, two different kinds of examples are provided to demonstrate the efficiency of the proposed method. Moreover, some examinations including the Volterra model memory size and algorithm initial condition are further considered. [Copyright &y& Elsevier]

Abstract: Recently, multimodal optimization problems (MMOPs) have gained a lot of attention from the evolutionary algorithm (EA) community since many real-world applications are MMOPs and may require EAs to present multiple optimal solutions. In this paper, a memetic algorithm that hybridizes particle swarm optimization (PSO) with a local search (LS) technique, called memetic PSO (MPSO), is proposed for locating multiple global and local optimal solutions in the fitness landscape of MMOPs. Within the framework of the proposed MPSO algorithm, a local PSO model, where the particles adaptively form different species based on their indices in the population to search for different sub-regions in the fitness landscape in parallel, is used for globally rough exploration, and an adaptive LS method, which employs two different LS operators in a cooperative way, is proposed for locally refining exploitation. In addition, a triggered re-initialization scheme, where a species is re-initialized once converged, is introduced into the MPSO algorithm in order to enhance its performance of solving MMOPs. Based on a set of benchmark functions, experiments are carried out to investigate the performance of the MPSO algorithm in comparison with some EAs taken from the literature. The experimental results show the efficiency of the MPSO algorithm for solving MMOPs. [Copyright &y& Elsevier]