Global optimal path planning for mobile robot based onimproved Dijkstra algorithm and ant system algorithm

A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.

THE EXISTENCE AND GLOBAL OPTIMAL ASYMPTOTIC BEHAVIOUR OF LARGE SOLUTIONS FOR A SEMILINEAR ELLIPTIC PROBLEM

By Karamata regular variation theory and constructing comparison functions, the author shows the existence and global optimal asymptotic behaviour of solutions for a semilinear elliptic problem Δu = k（x）g（u）, u 〉 0, x ∈ Ω, u｜δΩ =＋∞, where Ω is a bounded domain with smooth boundary in R^N; g ∈ C^1[0, ∞）, g（0） = g＇（0） = 0, and there exists p 〉 1, such that lim g（sξ）/g（s）=ξ^p, ↓Aξ 〉 0, and k ∈ Cloc^α（Ω） is non-negative non-trivial in D which may be singular on the boundary.

Certifying the Global Optimality of Quartic Minimization over the Sphere

The quartic minimization over the sphere is an NP-hard problem in the general case.There exist various methods for computing an approximate solution for any given instance.In practice,it is quite often that a global optimal solution was found but without a certification.We will present in this article two classes of methods which are able to certify the global optimality,i.e.,algebraic methods and semidefinite program(SDP)relaxation methods.Several advances on these topics are summarized,accompanied with some emerged new results.We want to emphasize that for mediumor large-scaled instances,the problem is still a challenging one,due to an apparent limitation on the current force for solving SDP problems and the intrinsic one on the approximation techniques for the problem.

Branch and Bound Algorithm for Globally Solving Minimax Linear Fractional Programming

In this paper,we study the minimax linear fractional programming problem on a non-empty bounded set,called problem(MLFP),and we design a branch and bound algorithm to find a globally optimal solution of(MLFP).Firstly,we convert the problem(MLFP)to a problem(EP2)that is equivalent to it.Secondly,by applying the convex relaxation technique to problem(EP2),a convex quadratic relaxation problem(CQRP)is obtained.Then,the overall framework of the algorithm is given and its convergence is proved,the worst-case iteration number is also estimated.Finally,experimental data are listed to illustrate the effectiveness of the algorithm.

Fractional-order global optimal backpropagation machine trained by an improved fractional-order steepest descent method

We introduce the fractional-order global optimal backpropagation machine,which is trained by an improved fractionalorder steepest descent method(FSDM).This is a fractional-order backpropagation neural network(FBPNN),a state-of-the-art fractional-order branch of the family of backpropagation neural networks(BPNNs),different from the majority of the previous classic first-order BPNNs which are trained by the traditional first-order steepest descent method.The reverse incremental search of the proposed FBPNN is in the negative directions of the approximate fractional-order partial derivatives of the square error.First,the theoretical concept of an FBPNN trained by an improved FSDM is described mathematically.Then,the mathematical proof of fractional-order global optimal convergence,an assumption of the structure,and fractional-order multi-scale global optimization of the FBPNN are analyzed in detail.Finally,we perform three(types of)experiments to compare the performances of an FBPNN and a classic first-order BPNN,i.e.,example function approximation,fractional-order multi-scale global optimization,and comparison of global search and error fitting abilities with real data.The higher optimal search ability of an FBPNN to determine the global optimal solution is the major advantage that makes the FBPNN superior to a classic first-order BPNN.

Aircraft Optimal Separation Allocation Based on Global Optimization Algorithm

A dynamic programming-sequential quadratic programming(DP-SQP)combined algorithm is proposed to address the problem that the traditional continuous control method has high computational complexity and is easy to fall into local optimal solution.To solve the globally optimal control law sequence,we use the dynamic programming algorithm to discretize the separation control decision-making process into a series of sub-stages based on the time characteristics of the separation allocation model,and recursion from the end stage to the initial stage.The sequential quadratic programming algorithm is then used to solve the optimal return function and the optimal control law for each sub-stage.Comparative simulations of the combined algorithm and the traditional algorithm are designed to validate the superiority of the combined algorithm.Aircraft-following and cross-conflict simulation examples are created to demonstrate the combined algorithm’s adaptability to various conflict scenarios.The simulation results demonstrate the separation deploy strategy’s effectiveness,efficiency,and adaptability.

A Rayleigh Wave Globally Optimal Full Waveform Inversion Framework Based on GPU Parallel Computing

Conventional gradient-based full waveform inversion (FWI) is a local optimization, which is highly dependent on the initial model and prone to trapping in local minima. Globally optimal FWI that can overcome this limitation is particularly attractive, but is currently limited by the huge amount of calculation. In this paper, we propose a globally optimal FWI framework based on GPU parallel computing, which greatly improves the efficiency, and is expected to make globally optimal FWI more widely used. In this framework, we simplify and recombine the model parameters, and optimize the model iteratively. Each iteration contains hundreds of individuals, each individual is independent of the other, and each individual contains forward modeling and cost function calculation. The framework is suitable for a variety of globally optimal algorithms, and we test the framework with particle swarm optimization algorithm for example. Both the synthetic and field examples achieve good results, indicating the effectiveness of the framework. .

Global Optimization for Solving Linear Non-Quadratic Optimal Control Problems

This paper presents a global optimization approach to solving linear non-quadratic optimal control problems. The main work is to construct a differential flow for finding a global minimizer of the Hamiltonian function over a Euclid space. With the Pontryagin principle, the optimal control is characterized by a function of the adjoint variable and is obtained by solving a Hamiltonian differential boundary value problem. For computing an optimal control, an algorithm for numerical practice is given with the description of an example.

Global Solutions to Nonconvex Problems by Evolution of Hamilton-Jacobi PDEs

Computing tasks may often be posed as optimization problems.The objective functions for real-world scenarios are often nonconvex and/or nondifferentiable.State-of-the-art methods for solving these problems typically only guarantee convergence to local minima.This work presents Hamilton-Jacobi-based Moreau adaptive descent(HJ-MAD),a zero-order algorithm with guaranteed convergence to global minima,assuming continuity of the objective function.The core idea is to compute gradients of the Moreau envelope of the objective(which is"piece-wise convex")with adaptive smoothing parameters.Gradients of the Moreau envelope(i.e.,proximal operators)are approximated via the Hopf-Lax formula for the viscous Hamilton-Jacobi equation.Our numerical examples illustrate global convergence.

Multi-objective global optimization approach predicted quasi-layered ternary TiOS crystals with promising photocatalytic properties

Titanium dioxide(TiO_(2))has attracted considerable research attentions for its promising applications in solar cells and photocatalytic devices.However,the intrinsic challenge lies in the relatively low energy conversion efficiency of TiO_(2),primarily attributed to the substantial band gaps(exceeding 3.0 eV)associated with its rutile and anatase phases.Leveraging multi-objective global optimization,we have identified two quasi-layered ternary Ti-O-S crystals,composed of titanium,oxygen,and sulfur.The calculations of formation energy,phonon dispersions,and thermal stability confirm the chemical,dynamical and thermal stability of these newly discovered phases.Employing the state-of-art hybrid density functional approach and many-body perturbation theory(quasiparticle GW approach and Bethe-Salpeter equation),we calculate the optical properties of both the TiOS phases.Significantly,both phases show favorable photocatalytic characteristics,featuring band gaps suitable for visible optical absorption and appropriate band alignments with water for effective charge carrier separation.Therefore,ternary compound TiOS holds the potential for achieving high-efficiency photochemical conversion,showing our multi-objective global optimization provides a new approach for novel environmental and energy materials design with multicomponent compounds.

CHAOTIC ANNEALING NEURAL NETWORK FOR GLOBAL OPTIMIZATION OF CONSTRAINED NONLINEAR PROGRAMMING

Chaotic neural networks have global searching ability.But their applications are generally confined to combinatorial optimization to date.By introducing chaotic noise annealing process into conventional Hopfield network,this paper proposes a new chaotic annealing neural network (CANN) for global optimization of continuous constrained non linear programming.It is easy to implement,conceptually simple,and generally applicable.Numerical experiments on severe test functions manifest that CANN is efficient and reliable to search for global optimum and outperforms the existing genetic algorithm GAMAS for the same purpose.

Multi-sensor optimal weighted fusion incremental Kalman smoother

In practical applications, the system observation error is widespread. If the observation equation of the system has not been verified or corrected under certain environmental conditions,the unknown system errors and filtering errors will come into being.The incremental observation equation is derived, which can eliminate the unknown observation errors effectively. Furthermore, an incremental Kalman smoother is presented. Moreover, a weighted measurement fusion incremental Kalman smoother applying the globally optimal weighted measurement fusion algorithm is given.The simulation results show their effectiveness and feasibility.

Application of Evolution Sequential Number Theoretic Optimization in Global Optimization

Synthesis of chemical processes is of non-convex and multi-modal. Deterministic strategies often fail to find global optimum within reasonable time scales. Stochastic methodologies generally approach global solution in probability. In recogniting the state of art status in the discipline, a new approach for global optimization of processes, based on sequential number theoretic optimization (SNTO), is proposed. In this approach, subspaces and feasible points are derived from uniformly scattered points, and iterations over passing the corner of local optimum are enhanced via parallel strategy. The efficiency of the approach proposed is verified by results obtained from various case studies.

A New Hybrid Method for Constrained Global Optimization

By combining properly the simulated annealing algorithm and the nonlinear programming neural network, a new hybrid method for comtrained global optimization is proposed in this paper. To maintain the applicability of the simulated annealing algorithm used in the hybrid method as general as possible, the nonlinear programming neural network is employed at each iteration to find only a feasible solution to the original constrained problem rather than a local optimal solution. Such a feasible solution is obtained by solving an auxiliary optimization problem with a new objective function. The computational results for two numerical examples indicate that the proposed hybrid method for constrained global optimization is not only highly reliable but also much more effcient than the simulated annealing algorithm using the penalty function method to deal with the constraints.

Hybridizing grey wolf optimization with differential evolution for global optimization and test scheduling for 3D stacked SoC

A new meta-heuristic method is proposed to enhance current meta-heuristic methods for global optimization and test scheduling for three-dimensional （3D） stacked system-on-chip （SoC） by hybridizing grey wolf optimization with differential evo- lution （HGWO）. Because basic grey wolf optimization （GWO） is easy to fall into stagnation when it carries out the operation of at- tacking prey, and differential evolution （DE） is integrated into GWO to update the previous best position of grey wolf Alpha, Beta and Delta, in order to force GWO to jump out of the stagnation with DE＇s strong searching ability. The proposed algorithm can accele- rate the convergence speed of GWO and improve its performance. Twenty-three well-known benchmark functions and an NP hard problem of test scheduling for 3D SoC are employed to verify the performance of the proposed algorithm. Experimental results show the superior performance of the proposed algorithm for exploiting the optimum and it has advantages in terms of exploration.

A New Chaotic Parameters Disturbance Annealing Neural Network for Solving Global Optimization Problems

Since there were few chaotic neural networks applicable to the global optimization, in this paper, we propose a new neural network model ? chaotic parameters disturbance annealing (CPDA) network, which is superior to other existing neural networks, genetic algorithms, and simulated annealing algorithms in global optimization. In the present CPDA network, we add some chaotic parameters in the energy function, which make the Hopfield neural network escape from the attraction of a local minimal solution and with the parameter annealing, our model will converge to the global optimal solutions quickly and steadily. The converge ability and other characters are also analyzed in this paper. The benchmark examples show the present CPDA neural network's merits in nonlinear global optimization.

Metamodel-based Global Optimization Using Fuzzy Clustering for Design Space Reduction

High fidelity analysis are utilized in modern engineering design optimization problems which involve expensive black-box models.For computation-intensive engineering design problems,efficient global optimization methods must be developed to relieve the computational burden.A new metamodel-based global optimization method using fuzzy clustering for design space reduction(MGO-FCR) is presented.The uniformly distributed initial sample points are generated by Latin hypercube design to construct the radial basis function metamodel,whose accuracy is improved with increasing number of sample points gradually.Fuzzy c-mean method and Gath-Geva clustering method are applied to divide the design space into several small interesting cluster spaces for low and high dimensional problems respectively.Modeling efficiency and accuracy are directly related to the design space,so unconcerned spaces are eliminated by the proposed reduction principle and two pseudo reduction algorithms.The reduction principle is developed to determine whether the current design space should be reduced and which space is eliminated.The first pseudo reduction algorithm improves the speed of clustering,while the second pseudo reduction algorithm ensures the design space to be reduced.Through several numerical benchmark functions,comparative studies with adaptive response surface method,approximated unimodal region elimination method and mode-pursuing sampling are carried out.The optimization results reveal that this method captures the real global optimum for all the numerical benchmark functions.And the number of function evaluations show that the efficiency of this method is favorable especially for high dimensional problems.Based on this global design optimization method,a design optimization of a lifting surface in high speed flow is carried out and this method saves about 10 h compared with genetic algorithms.This method possesses favorable performance on efficiency,robustness and capability of global convergence and gives a new optimization strategy for engineering design optimization problems involving expensive black box models.

Seeker optimization algorithm:a novel stochastic search algorithm for global numerical optimization

A novel heuristic search algorithm called seeker op- timization algorithm （SOA） is proposed for the real-parameter optimization. The proposed SOA is based on simulating the act of human searching. In the SOA, search direction is based on empir- ical gradients by evaluating the response to the position changes, while step length is based on uncertainty reasoning by using a simple fuzzy rule. The effectiveness of the SOA is evaluated by using a challenging set of typically complex functions in compari- son to differential evolution （DE） and three modified particle swarm optimization （PSO） algorithms. The simulation results show that the performance of the SOA is superior or comparable to that of the other algorithms.

Global Optimization Method Using SLE and Adaptive RBF Based on Fuzzy Clustering

High fidelity analysis models,which are beneficial to improving the design quality,have been more and more widely utilized in the modern engineering design optimization problems.However,the high fidelity analysis models are so computationally expensive that the time required in design optimization is usually unacceptable.In order to improve the efficiency of optimization involving high fidelity analysis models,the optimization efficiency can be upgraded through applying surrogates to approximate the computationally expensive models,which can greately reduce the computation time.An efficient heuristic global optimization method using adaptive radial basis function（RBF） based on fuzzy clustering（ARFC） is proposed.In this method,a novel algorithm of maximin Latin hypercube design using successive local enumeration（SLE） is employed to obtain sample points with good performance in both space-filling and projective uniformity properties,which does a great deal of good to metamodels accuracy.RBF method is adopted for constructing the metamodels,and with the increasing the number of sample points the approximation accuracy of RBF is gradually enhanced.The fuzzy c-means clustering method is applied to identify the reduced attractive regions in the original design space.The numerical benchmark examples are used for validating the performance of ARFC.The results demonstrates that for most application examples the global optima are effectively obtained and comparison with adaptive response surface method（ARSM） proves that the proposed method can intuitively capture promising design regions and can efficiently identify the global or near-global design optimum.This method improves the efficiency and global convergence of the optimization problems,and gives a new optimization strategy for engineering design optimization problems involving computationally expensive models.

A Parameter-Free Filled Function for Unconstrained Global Optimization

The filled function method is an approach for finding a global minimum of multi-dimensional functions. With more and more relevant research, it becomes a promising way used in unconstrained global optimization. Some filled functions with one or two parameters have already been suggested. However, there is no certain criterion to choose a parameter appropriately. In this paper, a parameter-free filled function was proposed. The definition of the original filled function and assumptions of the objective function given by Ge were improved according to the presented parameter-free filled function. The algorithm and numerical results of test functions were reported. Conclusions were drawn in the end. Key words global optimization - filled function method - local minimizer MSC 2000 90C30