Constructive Design and Evauation of Genetic Algorithm for Scheduling Problem of Robot Control Computation

机器人控制计算调度问题遗传算法的构造设计与评估

• 批准号: 08650465
• 负责人: HANEDA Hiromasa
• 金额: $ 1.47万
• 依托单位: Kobe University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08650465/
• 关键词: Genetic Algorithm; Metric Function; Crossover Operation; Robot Control; Parallel Processing; Scheduling Problem; 遺伝的アルゴリム; エッジ交叉

We studied practical methodology to design an effective genetic algoritym for the scheduling problem of robot control computation. Then, we proposed the following techniques applicable to the implementation of genetic algorithms for many combinatorial optimization problems.(1) Encoding of isomorphic genotype : A phenotype is usually represented by several genotypes. We have proposed a new technique to represent each phenotype uniquely by using a set of isomorphic genotypes. We could maintain the diversity of population with the encoding technique.(2) Phenotypic Distance : We have defined the phenotypic distance between two phenotypes by the least Hamming distance between isomorphic genotypes. By using the phenotypic distance in genetic operations, we could evaluate and control the diversity of population.(3) Weight-Edge Crossover : We have proposed a new crossover which combines the conventional edge crossover with a heuristic insight to preserve the excellent characteristic of parents. Experimental results showed that the proposed crossover was superior to the conventional ones.

我们研究了实用方法来设计一种有效的遗传算法来解决机器人控制计算的调度问题。然后，我们提出了以下适用于许多组合优化问题的遗传算法实现的技术。(1)同构基因型的编码：一个表型通常由多个基因型表示。我们提出了一种新技术，通过使用一组同构基因型来唯一地表示每种表型。通过编码技术可以保持种群的多样性。(2)表型距离：我们通过同构基因型之间的最小汉明距离来定义两个表型之间的表型距离。通过在遗传操作中使用表型距离，我们可以评估和控制种群的多样性。(3)权重边缘交叉：我们提出了一种新的交叉，它将传统的边缘交叉与启发式洞察相结合，以保留亲本的优良特征。实验结果表明，所提出的交叉优于传统的交叉。

项目成果

Kiyoharu Tagawa: "Application of Genetic Algorithm to Scheduling Problem of Robot Control Computation" Proc.of the 23rd Int.Conference on Industrial Electronics, Control, and Instrumentation. 1057-1062 (1997)

Kiyoharu Takawa：“遗传算法在机器人控制计算调度问题中的应用”第 23 届工业电子、控制和仪器仪表国际会议论文集。

K.Tagawa: "Phenotypic Genetic Algrorithm for Partitioning Problem" Proc.of Int.Conf.Evolutionary Computation. 553-556 (1997)

K.Takawa：“分区问题的表型遗传算法”Proc.of Int.Conf.Evolutionary Computation。

Kiyoharu Tagawa: "Phenotypic Genetic Algorithm for Partitioning Problem" Proc.of IEEE Int.Conference on Evolutionary Computation. 553-556 (1997)

Kiyoharu Takawa：“分区问题的表型遗传算法”Proc.of IEEE Int.Conference on Evolutionary Computation。

Kiyoharu Tagawa: "Automatic Programming of Autonomous Robots using a Genetic Algorithm" Proc.of the 3rd Int.Symposium on Artificial Life and Robotics. 289-292 (1998)

Kiyoharu Takawa：“使用遗传算法对自主机器人进行自动编程”第三届人工生命和机器人国际研讨会论文集。

Kiyoharu Tagawa: "Automatic Task-Generation Method for Parallel Processing of Robot-Arm Control Computation" Trans.of the Society of Instrument and Control Engineers. vol.34, no.3 (to be published). (1998)

Kiyoharu Takawa：“机器人手臂控制计算并行处理的自动任务生成方法”，仪器与控制工程师协会刊。