Rotary unmanned aerial vehicles path planning in rough terrain based on multi-objective particle swarm optimization

This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,length and angle variable rate.First,a three-dimensional(3D)modeling method is proposed to reduce the computation burden of the dynamic models of R-UAVs.Considering the length,height and tuning angle of a path,the path planning of R-UAVs is described as a tri-objective optimization problem.Then,an improved multi-objective particle swarm optimization algorithm is developed.To render the algorithm more effective in dealing with this problem,a vibration function is introduced into the collided solutions to improve the algorithm efficiency.Meanwhile,the selection of the global best position is taken into account by the reference point method.Finally,the experimental environment is built with the help of the Google map and the 3D terrain generator World Machine.Experimental results under two different rough terrains from Guilin and Lanzhou of China demonstrate the capabilities of the proposed algorithm in finding Pareto optimal paths.

Multi-objective Transmission Expansion Planning Considering Life Cycle Cost

为克服目前全寿命周期成本（life cycle cost,LCC）技术的应用局限于设备运行或维护阶段的不足,针对输电网整体建立一个3维LCC层级模型,包括时间维度、元件维度和费用维度。费用维度进一步分解为设备级、系统级、外部环境成本。研究了以可靠性为中心的维护手段的应用对维护成本的影响,利用电量不足期望值计算故障成本。在此基础上,对风电等4种不确定因素进行建模,建立以LCC成本最小和切负荷量最小为多目标的输电网机会约束规划模型。采用正态边界交点算法联合改进小生境遗传算法,对模型有效求解。最后,分别对18节点系统和77节点系统进行算例分析。研究结果给出了帕累托解集及推荐的最优规划方案;此外,LCC费用分解图表明了各费用的比重和影响,有利于指导未来资产管理。

Multi-objective evolutionary optimization for geostationary orbit satellite mission planning

In the past few decades, applications of geostationary orbit (GEO) satellites have attracted increasing attention, and with the development of optical technologies, GEO optical satellites have become popular worldwide. This paper proposes a general working pattern for a GEO optical satellite, as well as a target observation mission planning model. After analyzing the requirements of users and satellite control agencies, two objectives are simultaneously considered: maximization of total profit and minimization of satellite attitude maneuver angle. An NSGA-II based multi-objective optimization algorithm is proposed, which contains some heuristic principles in the initialization phase and mutation operator, and is embedded with a traveling salesman problem (TSP) optimization. The validity and performance of the proposed method are verified by extensive numerical simulations that include several types of point target distributions.

Two-Phase Multi Objective Fuzzy Linear Programming Approach for Sustainable Irrigation Planning

The objective of the present study is to develop the irrigation planning model and to apply the same in the form of Two-Phase Multi Objective Fuzzy Linear Programming (TPMOFLP) approach for crop planning in command area of Jayakwadi Project Stage I, Maharashtra State, India. The development of TPMOFLP model is on the basis of various Linear Programming (LP) models and Multi Objective Fuzzy Linear Programming (MOFLP) models, these models have been applied for maximization of the Net Benefits (NB), Crop production (CP), Employment Generation (EG) and Manure Utilization (MU) respectively. The significant increase in the value of level of satisfaction (λ) has been found from 0.58 to 0.65 by using the TPMOFLP approach as compare to that of MOFLP model based on maxmin approach. The two-phase approach solution provides NB = 1503.56 Million Rupees, CP = 335729.30 Tons, EG = 29.74 Million Man days and MU = 160233.70 Tons respectively. The proposed model will be helpful for the Decision Maker (DM) to take a decision under conflicting situation while planning for different conflicting objectives simultaneously and has potential to find out an integrated irrigation planning with prime consideration for economic, social and environmental issue.

Multi-objective route planning approach for timely searching tasks of a supervised robot

To performance efficient searching for an operator-supervised mobile robot, a multiple objectives route planning approach is proposed considering timeliness and path cost. An improved fitness function for route planning is proposed based on the multi-objective genetic algorithm （MOGA） for multiple objectives traveling salesman problem （MOTSP）. Then, the path between two route nodes is generated based on the heuristic path planning method A ＊. A simplified timeliness function for route nodes is proposed to represent the timeliness of each node. Based on the proposed timeliness function, experiments are conducted using the proposed two-stage planning method. The experimental results show that the proposed MOGA with improved fitness function can perform the searching function well when the timeliness of the searching task needs to be taken into consideration.

Optimal Irrigation Planning and Operation of Multi Objective Reservoir Using Fuzzy Logic

In the present study the MOFLP models have been developed for the optimal cropping pattern planning which maximizes the four objectives such as Net Benefits (NB), Crop Production (CP), Employment Generation (EG) and Manure Utilization (MU) under conflicting situation and also, for maximization of Releases for Irrigation (RI) and Releases for Power (RP) simultaneously under uncertainty by considering the fuzziness in the objective functions. The developed models have been applied using the LINGO 13 (Language for Interactive General Optimization) optimization software to the case study of the Jayakwadi Project Stage-II across Sindhphana River, in the State of Maharashtra India. The various constraints have been taken into consideration like sowing area, affinity to crop, labour availability, manure availability, water availability for optimal cropping pattern planning. Similarly constraints to find the optimal reservoir operating policy are releases for power and turbine capacity, irrigation demand, reservoir storage capacity, reservoir storage continuity. The level of satisfaction for a compromised solution of optimal cropping pattern planning for four conflicting objectives under fuzzy environment is worked out to be λ = 0.68. The MOFLP compromised solution provides NB = 1088.46 (Million Rupees), CP = 241003 (Tons), EG = 23.13 (Million Man days) and MU = 111454.70 (Tons) respectively. The compromised solution for optimal operation of multi objective reservoir yields the level of satisfaction (λ) = 0.533 for maximizing the releases for irrigation and power simultaneously by satisfying the constraint of the system under consideration. The compromised solution provides the optimal releases, i.e. RI = 348.670 Mm3 and RP = 234.285 Mm3 respectively.

Novel constrained multi-objective biogeography-based optimization algorithm for robot path planning

A constrained multi-objective biogeography-based optimization algorithm （CMBOA） was proposed to solve robot path planning （RPP）. For RPP, the length and smoothness of path were taken as the optimization objectives, and the distance from the obstacles was constraint. In CMBOA, a new migration operator with disturbance factor was designed and applied to the feasible population to generate many more non-dominated feasible individuals; meanwhile, some infeasible individuals nearby feasible region were recombined with the nearest feasible ones to approach the feasibility. Compared with classical multi-objective evolutionary algorithms, the current study indicates that CM- BOA has better performance for RPP.

Multi-Objective Production Planning Using Lexicographic Procedure

This paper presents a multi-objective production planning model for a factory operating under a multi-product, and multi-period environment using the lexicographic (pre-emptive) procedure. The model objectives are to maximize the profit, minimize the total cost, and maximize the Overall Service Level (OSL) of the customers. The system consists of three potential suppliers that serve the factory to serve three customers/distributors. The performance of the developed model is illustrated using a verification example. Discussion of the results proved the efficacy of the model. Also, the effect of the deviation percentages on the different objectives is discussed.

Improved Fuzzification Method for Multi-Objective Decision-Making and Its Application in Evaluation of Highway Planning

A new fuzzification method for multi-objective decision-making and selective sorting is proposed on the basis of the fuzzy consistent relation, and the specific algorithm is presented. The method is applied to the evaluation of highway planning of Zhanjiang city. To decrease the subjectivity in the process of decision-making, the LOWA operator is introduced, and a discussion on how to select appropriate weights involved in multi-objective sorting is made. It is concluded that it is feasible to apply the fuzzy consistent relation to multi-objective decision-making analysis, and the improved fuzzication method is workable.

Selection Method of Multi-Objective Problems Using Genetic Algorithm in Motion Plan of AUV

To research the effect of the selection method of multi — objects genetic algorithm problem on optimizing result, this method is analyzed theoretically and discussed by using an autonomous underwater vehicle (AUV) as an object. A changing weight value method is put forward and a selection formula is modified. Some experiments were implemented on an AUV, TwinBurger. The results shows that this method is effective and feasible.

Multi‐objective particle swarm optimisation of complex product change plan considering service performance

Design change is an inevitable part of the product development process.This study proposes an improved binary multi‐objective PSO algorithm guided by problem char-acteristics(P‐BMOPSO)to solve the optimisation problem of complex product change plan considering service performance.Firstly,a complex product multi‐layer network with service performance is established for the first time to reveal the impact of change effect propagation on the product service performance.Secondly,the concept of service performance impact(SPI)is defined by decoupling the impact of strongly associated nodes on the service performance in the process of change affect propagation.Then,a triple‐objective selection model of change nodes is established,which includes the three indicators:SPI degree,change cost,and change time.Furthermore,an integer multi‐objective particle swarm optimisation algorithm guided by problem characteristics is developed to solve the model above.Experimental results on the design change problem of a certain type of Skyworth TV verify the effectiveness of the established optimisation model and the proposed P‐BMOPSO algorithm.

Interactive Multi-objective Optimization Design for the Pylon Structure of an Airplane

The pylon structure of an airplane is very complex, and its high-fidelity analysis is quite time-consuming. If posterior preference optimization algorithm is used to solve this problem, the huge time consumption will be unacceptable in engineering practice due to the large amount of evaluation needed for the algorithm. So, a new interactive optimization algorithm-interactive multi-objective particle swarm optimization （IMOPSO） is presented. IMOPSO is efficient, simple and operable. The decision-maker can expediently determine the accurate preference in IMOPSO. IMOPSO is used to perform the pylon structure optimization design of an airplane, and a satisfactory design is achieved after only 12 generations of IMOPSO evolutions. Compared with original design, the maximum displacement of the satisfactory design is reduced, and the mass of the satisfactory design is decreased for 22%.

A Multi-Objective Obnoxious Facility Location Modelon a Plane

In this paper a Vertex Covering Obnoxious Facility Location model on a Plane has been designed with a combination of three interacting criteria as follows: 1) Minimize the overall importance of the various exist-ing facility points;2) Maximize the minimum distance from the facility to be located to the existing facility points;3) Maximize the number of existing facility points covered. Area restriction concept has been incor-porated so that the facility to be located should be within certain restricted area. The model developed here is a class of maximal covering problem, that is covering maximum number of points where the facility is within the upper bounds of the corresponding mth feasible region Two types of compromise solution methods have been designed to get a satisfactory solution of the multi-objective problem. A transformed non- linear programming algorithm has been designed for the proposed non-linear model. Rectilinear dis-tance norm has been considered as the distance measure as it is more appropriate to various realistic situa-tions. A numerical example has been presented to illustrate the solution algorithm.

A multi-objective fuzzy optimization model for cropping structure and water resources and its method

Cropping structure has a close relationship with the optimal allocation of agricultural water resources. Based on the analysis of the relationship between agricultural water resources and sustainable development, this paper presents a multi objective fuzzy optimization model for cropping structure and water allocation, which overcomes the shortcoming of current models that only considered the economic objective,and ignored the social and environmental objectives. During the process, a new method named fuzzy deciding weight is developed to decide the objective weight. A case study shows that the model is reliable, the method is simple and objective, and the results are reasonable. This model is useful for agricultural management and sustainable development.

MULTI OBJECTIVE OPTIMIZATION USING GENETIC ALGORITHM WITH LOCAL SEARCH

In this paper,we propose a hybrid algorithm for finding a set of non dominated solutions of a multi objective optimization problem.In the proposed algorithm,a local search procedure is applied to each solution generated by genetic operations.The aim of the proposed algorithm is not to determine a single final solution but to try to find all the non dominated solutions of a multi objective optimization problem.The choice of the final solution is left to the decision makers preference.High search ability of the proposed algorithm is demonstrated by computer simulation.

Multi Objective Decision Making Method Based on Evaluation Criterion for Problems with Linear Value Function

A class of interactive multi objective decision making method by means of evaluation criterion is proposed for problems with linear value function,in which case,the decision maker(DM) usually has only unwhole information of weights for objectives. The concept of fault measure of the evaluation criterion is proposed to measure the deviation of the evaluation criterion from the DMs preference structure.The approach to obtain an upper boundary of fault measure of an evaluation criterion,and the approach to modify the evaluation criterion to be one with smaller fault measure,and the approach to obtain a pre optimized objective set by evaluation criterion with certain fault measure are also proposed.

Two-Stage Interactive Multi-Objective Decision-Making Method Based on the Satisfactoriness Criterion

In this paper, for multi objective decision making, the defects on the commonly used interactive methods based on the satisfactoriness criterion is studied. Then a class of two stage interactive method based on the satisfactoriness criterion is proposed for improvement with the satisfactoriness criterion being determined through the collection of the decision makers preference information. An application example is presented for illustration of applicability of the method.

Robust Airfoil Optimization with Multi-objective Estimation of Distribution Algorithm

A transonic airfoil designed by means of classical point-optimization may result in its dramatically inferior performance under off-design conditions. To overcome this shortcoming, robust design is proposed to find out the optimal profile of an airfoil to maintain its performance in an uncertain environment. The robust airfoil optimization is aimed to minimize mean values and variances of drag coefficients while satisfying the lift and thickness constraints over a range of Mach numbers. A multi-objective estimation of distribution algorithm is applied to the robust airfoil optimization on the base of the RAE2822 benchmark airfoil. The shape of the airfoil is obtained through superposing ten Hick-Henne shape functions upon the benchmark airfoil. A set of design points is selected according to a uniform design table for aerodynamic evaluation. A Kriging model of drag coefficient is constructed with those points to reduce computing costs. Over the Mach range from 0.7 to 0.8, the airfoil generated by the robust optimization has a configuration characterized by supercritical airfoil with low drag coefficients. The small fluctuation in its drag coefficients means that the performance of the robust airfoil is insensitive to variation of Mach number.

Multi Objective Multireservoir Optimization in Fuzzy Environment for River Sub Basin Development and Management

In this paper, a multi objective, multireservoir operation model is proposed using Genetic algorithm (GA) under fuzzy environment. A monthly Multi Objective Genetic Algorithm Fuzzy Optimization (MOGAFU-OPT) model for the present study is developed in ‘C’ Language. The GA parameters i.e. population size, number of generations, crossover probability, and mutation probability are decided based on optimized val-ues of fitness function. The GA operators adopted are stochastic remainder selection, one point crossover and binary mutation. Initially the model is run for maximization of irrigation releases. Then the model is run for maximization of hydropower production. These objectives are fuzzified by assuming a linear membership function. These fuzzified objectives are simultaneously maximized by defining level of satisfaction (?) and then maximizing it. This approach is applied to a multireservoir system in Godavari river sub basin in Ma-harashtra State, India. Problem is formulated with 4 reservoirs and a barrage. The optimal operation policy for maximization of irrigation releases, maximization of hydropower production and maximization of level of satisfaction is presented for existing demand in command area. This optimal operation policy so deter-mined is compared with the actual average operation policy for Jayakwadi Stage-I reservoir.

FACILITATING REGIONAL SUSTAINABLE DEVELOPMENT THROUGH INTEGRATED MULTI-OBJECTIVE UTILIZATION, MANAGEMENT OF WATER RESOURCES IN THE LANCANG-MEKONG RIVER BASIN

The Lancnag Mekong River is the most important international river across China and Southeast Asia, If it is developed according to 'Great Mekong Subregional Cooperation Plan' [9] prepared by ADB, the area directly affected will be up to over 2.32 million km 2, the population over 220 million, and the natural environment, and socio-economic conditions within a large area will be greatly changed. 'Agreement on Cooperation for Sustainable Development of Mekong Basin' signed by the four riparian countries along the lower Mekong River on April 5, 1995 provides a new opportunity for sustainable development of the Basin. According to preliminary analysis, if the multipurpose utilization of the water resources is the target for carrying out integrated planning and management, and the efforts are made 1) to focus on energy exploitation on the Lancang River Mainstream and the tributaries of the lower Mekong River; 2) to build gated weirs at Tonle Sam; 3) to construct spillways at the Mekong Delta; 4) to facilitate flood dykes in big cities and on both banks of the mainstream which are concentrated with population and farmland and liable to be flooded, and 5) to strengthen networks for forecasting hydrological and meteorological conditions, then all problems such as power demand, irrigation, flood, salt water intrusion as well as acid water erosion to soil could be solved without constructing large cascaded stations and dams on the lower Mekong Mainstream. This will not only avoid input of great number of fund, large scale resettlement and land inundation, but also prevent aquatic organisms living in Mekong River from being injured due to dam construction, and promote the sustainable development of the Basin.