A hybridisation of Improved Harmony Search and Bacterial Foraging for multi-robot motion planning

Author

Jati, Arindam ; Singh, Garima ; Rakshit, Pratyusha ; Konar, Amit ; Kim, Eunjin ; Nagar, Atulya K.

Author_Institution

ETCE Dept., Jadavpur Univ., Kolkata, India

fYear

2012

fDate

10-15 June 2012

Firstpage

1

Lastpage

8

Abstract

This paper provides a new approach to include the chemotactic behavior of Bacterial Foraging Algorithm (BFOA) in the existing Improved Harmony Search (IHS) algorithm. Extensive computer simulations with CEC-2005 benchmark functions reveal that the proposed algorithm outperforms the existing one with respect to accuracy in determining the optima. The proposed algorithm has successfully been implemented for multi-robot motion planning application. Performance has been studied using the proposed IHS-BFO algorithm and compared with existing IHS and Particle Swarm Optimization (PSO) algorithm.

Keywords

multi-robot systems; path planning; search problems; CEC-2005 benchmark functions; IHS-BFO algorithm hybridisation; bacterial foraging algorithm; chemotactic behavior; improved harmony search algorithm; multirobot motion planning application; Benchmark testing; Microorganisms; Nickel; Optimization; Planning; Robots; Vectors; average total path deviation; average uncovered target distance; bacterial foraging optimization; harmony search; multi-robot motion planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Evolutionary Computation (CEC), 2012 IEEE Congress on

Conference_Location

Brisbane, QLD

Print_ISBN

978-1-4673-1510-4

Electronic_ISBN

978-1-4673-1508-1

Type

conf

DOI

10.1109/CEC.2012.6256533

Filename

6256533