A Taguchi-Based Heterogeneous Parallel Metaheuristic ACO-PSO and Its FPGA Realization to Optimal Polar-Space Locomotion Control of Four-Wheeled Redundant Mobile Robots

Abstract

This paper presents an efficient Taguchi-based heterogeneous parallel metaheuristic ant colony optimization (ACO)-particle swarm optimization (PSO), called THPACOPSO, and its field-programmable gate array (FPGA) realization to optimal polar-space locomotion control of four-wheeled redundant mobile robots. This THPACOPSO consists of one slave Taguchi-based ACO (TACO) and one slave Taguchi-based PSO (TPSO) along with a master communication operator in one chip using system-on-a-programmable chip (SoPC) methodology. This approach takes the advantages of the Taguchi quality method, ACO, PSO, parallel processing, and FPGA technique, thereby obtaining better population diversity, avoiding premature convergence and keeping parallelism. Experimental results and comparative works are conducted to present effective optimization and high accuracy of the proposed FPGA-based THPACOPSO locomotion controller for four-wheeled Swedish redundant mobile robots.Index Terms-Field-programmable gate array (FPGA), metaheuristic, redundant control, system-on-a-programmable chip (SoPC). 1551-3203

An ACO-Based Tool-Path Optimizer for 3-D Printing Applications

“…Throughout the years, heuristic and meta-heuristic algorithms have been developed and widely adopted to solve combinatorial optimization problems in industrial applications [11]- [16]. Yahyaoui et al [13] proposed a heuristic for solving a job-shop scheduling problem, which can yield a lower number of iterations and thus a shorter processing time.…”

“…In [15], Lee et al proposed an ACO-based control algorithm to optimize sensing schedules of individual sensors in wireless sensor networks. A hybrid algorithm combining ACO and particle swarm optimization (PSO) was proposed for robot motion control in [16].…”

“…All programs were executed on a computer with an Intel Core i7 3.6 GHz processor, 16 GB RAM, and Windows 10 operating system. Search processes in ACO can be speeded up with the help of parallel processing [16]. All ACO-based solvers in this work were implemented in a multi-threads manner to harness the full processing power of the CPU.…”

An Improved Taguchi Algorithm Based on Fitting and Prediction for Linear Antenna Array Synthesis

“…e same conclusion can be drawn in [6] for antenna design and in [20] for optimization of the magnetic hysteresis model. Some hybrid algorithms combined with the Taguchi method have also been studied [19,21]. Even though the normal Taguchi algorithm has good performance in many global optimization problems, we hope to further improve its convergence speed and make it more efficient.…”

Arquitectura FPGA para Simulación de Aprovisionamiento de Alimentos en Colonias de Hormigas Artificiales

“…Fueron inicialmente propuestos por Dorigo en 1992 [4] y motivo de diversas investigaciones en esta década [5], [6]. Dichos algoritmos han tenido un gran campo de aplicación sobre la tecnología de hardware configurable FPGA [7], [8] debido a factores como el paralelismo del hardware, los tiempos de respuesta y la facilidad de mantenimiento [9]. No obstante, las actuales investigaciones se alejan un poco del estudio de las colonias enfocándose en el marcado campo de la optimización de grafos.…”