A Taguchi-Based Heterogeneous Parallel Metaheuristic ACO-PSO and Its FPGA Realization to Optimal Polar-Space Locomotion Control of Four-Wheeled Redundant Mobile Robots
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 r...
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| Published in | IEEE transactions on industrial informatics Vol. 11; no. 4; pp. 915 - 922 |
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| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
Piscataway
IEEE
01.08.2015
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1551-3203 1941-0050 |
| DOI | 10.1109/TII.2015.2440173 |
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| 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. |
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| AbstractList | 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. |
| Author | Hsu-Chih Huang |
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| CitedBy_id | crossref_primary_10_3390_s23208456 crossref_primary_10_1109_TII_2018_2889740 crossref_primary_10_3390_electronics13173504 crossref_primary_10_1016_j_mechatronics_2020_102387 crossref_primary_10_1109_TASE_2019_2931810 crossref_primary_10_1109_TMECH_2020_2975083 crossref_primary_10_1016_j_asoc_2018_04_023 crossref_primary_10_1109_ACCESS_2023_3324061 crossref_primary_10_1108_IR_10_2018_0204 crossref_primary_10_1016_j_isatra_2021_06_017 crossref_primary_10_1177_09544054211041068 crossref_primary_10_1108_IR_05_2021_0091 crossref_primary_10_1016_j_eswa_2022_118906 crossref_primary_10_1109_JSYST_2020_2990921 crossref_primary_10_1109_TSMC_2021_3119054 crossref_primary_10_1002_cav_1802 crossref_primary_10_1007_s11227_023_05851_7 crossref_primary_10_1007_s10489_022_03397_4 crossref_primary_10_1109_TII_2015_2485520 crossref_primary_10_1080_00207179_2024_2326150 crossref_primary_10_1007_s11277_020_07873_3 |
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| References | lee (ref13) 2008; 8 ref14 ref31 ref30 ref33 ref32 ref10 ref2 huang (ref12) 2012; 7 ref1 ref17 ref16 ref19 ref18 vanneschi (ref11) 2012; 29 huang (ref3) 2013; 2013 ref24 ref23 ref26 ref25 rameesha (ref28) 0 ref22 ref21 taguchi (ref15) 1986 ref27 ref29 ref8 ref7 ref9 ref4 ref6 ref5 kumar (ref20) 2012; 61 |
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| SubjectTerms | Ant colony optimization Arrays Chips Field programmable gate arrays FPGA Heuristic methods Kinematics Locomotion Meta metaheuristic Mobile robots Optimization Program processors Redundant redundant control Robots SoPC Trajectory |
| Title | A Taguchi-Based Heterogeneous Parallel Metaheuristic ACO-PSO and Its FPGA Realization to Optimal Polar-Space Locomotion Control of Four-Wheeled Redundant Mobile Robots |
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