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Improved Ant Colony Algorithm for Vehicle Scheduling Problem in Airport Ground Service Support 被引量:3
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作者 Yaping Zhang Ye Chen +2 位作者 Yu Zhang Jian Mao Qian Luo 《Journal of Harbin Institute of Technology(New Series)》 CAS 2023年第1期1-12,共12页
Support vehicles are part of the main body of airport ground operations,and their scheduling efficiency directly impacts flight delays.A mathematical model is constructed and the responsiveness of support vehicles for... Support vehicles are part of the main body of airport ground operations,and their scheduling efficiency directly impacts flight delays.A mathematical model is constructed and the responsiveness of support vehicles for current operational demands is proposed to study optimization algorithms for vehicle scheduling.The model is based on the constraint relationship of the initial operation time,time window,and gate position distribution,which gives an improvement to the ant colony algorithm(ACO).The impacts of the improved ACO as used for support vehicle optimization are compared and analyzed.The results show that the scheduling scheme of refueling trucks based on the improved ACO can reduce flight delays caused by refueling operations by 56.87%,indicating the improved ACO can improve support vehicle scheduling.Besides,the improved ACO can jump out of local optima,which can balance the working time of refueling trucks.This research optimizes the scheduling scheme of support vehicles under the existing conditions of airports,which has practical significance to fully utilize ground service resources,improve the efficiency of airport ground operations,and effectively reduce flight delays caused by ground service support. 展开更多
关键词 airport surface traffic ground service support vehicle scheduling topology model improved ant colony algorithm response value
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Optimization of Air Route Network Nodes to Avoid ″Three Areas″ Based on An Adaptive Ant Colony Algorithm 被引量:8
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作者 Wang Shijin Li Qingyun +1 位作者 Cao Xi Li Haiyun 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2016年第4期469-478,共10页
Air route network(ARN)planning is an efficient way to alleviate civil aviation flight delays caused by increasing development and pressure for safe operation.Here,the ARN shortest path was taken as the objective funct... Air route network(ARN)planning is an efficient way to alleviate civil aviation flight delays caused by increasing development and pressure for safe operation.Here,the ARN shortest path was taken as the objective function,and an air route network node(ARNN)optimization model was developed to circumvent the restrictions imposed by″three areas″,also known as prohibited areas,restricted areas,and dangerous areas(PRDs),by creating agrid environment.And finally the objective function was solved by means of an adaptive ant colony algorithm(AACA).The A593,A470,B221,and G204 air routes in the busy ZSHA flight information region,where the airspace includes areas with different levels of PRDs,were taken as an example.Based on current flight patterns,a layout optimization of the ARNN was computed using this model and algorithm and successfully avoided PRDs.The optimized result reduced the total length of routes by 2.14% and the total cost by 9.875%. 展开更多
关键词 air route network planning three area avoidance optimization of air route network node adaptive ant colony algorithm grid environment
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Robot Global Path Planning Based on an Improved Ant Colony Algorithm 被引量:18
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作者 Jingang Cao 《Journal of Computer and Communications》 2016年第2期11-19,共9页
Aiming at the disadvantages of the basic ant colony algorithm, this paper proposes an improved ant colony algorithm for robot global path planning. First, adjust the pheromone evaporation rate dynamically to enhance t... Aiming at the disadvantages of the basic ant colony algorithm, this paper proposes an improved ant colony algorithm for robot global path planning. First, adjust the pheromone evaporation rate dynamically to enhance the global search ability and convergence speed, and then modify the heuristic function to improve the state transition probabilities in order to find the optimal solution as quickly as possible;and finally change the pheromone update strategy to avoid premature by strengthening pheromone on the optimal path and limiting pheromone level. Simulation results verify the effectiveness of the improved algorithm. 展开更多
关键词 Path Planning ant colony algorithm Grid Method
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Research on Data Routing Model Based on Ant Colony Algorithms 被引量:1
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作者 龚跃 吴航 +2 位作者 鲍杰 王君军 张艳秋 《Defence Technology(防务技术)》 SCIE EI CAS 2010年第4期269-272,共4页
Improved traditional ant colony algorithms,a data routing model used to the data remote exchange on WAN was presented.In the model,random heuristic factors were introduced to realize multi-path search.The updating mod... Improved traditional ant colony algorithms,a data routing model used to the data remote exchange on WAN was presented.In the model,random heuristic factors were introduced to realize multi-path search.The updating model of pheromone could adjust the pheromone concentration on the optimal path according to path load dynamically to make the system keep load balance.The simulation results show that the improved model has a higher performance on convergence and load balance. 展开更多
关键词 computer software data transmission ant colony algorithm routing model
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Research on UAV cloud control system based on ant colony algorithm 被引量:1
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作者 ZHANG Lanyong ZHANG Ruixuan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2022年第4期805-811,共7页
In the cloud era, the control objects are becoming larger and the information processing is more complex, and it is difficult for traditional control systems to process massive data in a timely manner. In view of the ... In the cloud era, the control objects are becoming larger and the information processing is more complex, and it is difficult for traditional control systems to process massive data in a timely manner. In view of the difficulty of data processing in the cloud era, it is extremely important to perform massive data operations through cloud servers. Unmanned aeriel vehicle(UAV) control is the representative of the intelligent field. Based on the ant colony algorithm and incorporating the potential field method, an improved potential field ant colony algorithm is designed. To deal with the path planning problem of UAVs, the potential field ant colony algorithm shortens the optimal path distance by 6.7%, increases the algorithm running time by39.3%, and increases the maximum distance by 24.1% compared with the previous improvement. The cloud server is used to process the path problem of the UAV and feedback the calculation results in real time. Simulation experiments verify the effectiveness of the new algorithm in the cloud environment. 展开更多
关键词 ant colony algorithm potential field method cloud server path planning
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Optimizing Fresh Logistics Distribution Route Based on Improved Ant Colony Algorithm 被引量:1
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作者 Daqing Wu Ziwei Zhu +1 位作者 Dong Hu Romany Fouad Mansour 《Computers, Materials & Continua》 SCIE EI 2022年第10期2079-2095,共17页
With the rapid development of the fresh cold chain logistics distribution and the prevalence of low carbon concept,this paper proposed an optimization model of low carbon fresh cold chain logistics distribution route ... With the rapid development of the fresh cold chain logistics distribution and the prevalence of low carbon concept,this paper proposed an optimization model of low carbon fresh cold chain logistics distribution route considering customer satisfaction,and combined with time,space,weight,distribution rules and other constraints to optimize the distribution model.At the same time,transportation cost,penalty cost,overloading cost,carbon tax cost and customer satisfaction were considered as the components of the objective function,and the thought of cost efficiency was taken into account,so as to establish a distribution model based on the ratio of minimum total cost to maximum satisfaction as the objective function.Then,the improved A∗algorithm and ant colony algorithm were used to construct the model solution.Through the simulation analysis results of different calculation examples,the effectiveness,efficiency and correctness of the design of the single target low-carbon fresh agricultural products cold chain model by using the improved ant colony algorithm were verified. 展开更多
关键词 Carbon tax cost vehicle routing problem cold chain ant colony algorithm
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Departure Trajectory Design Based on Pareto Ant Colony Algorithm
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作者 Sun Fanrong Han Songchen Qian Ge 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2016年第4期451-460,共10页
Due to the ever-increasing air traffic flow,the influence of aircraft noise around the airport has become significant.As most airlines are trying to decrease operation cost,stringent requirements for more simple and e... Due to the ever-increasing air traffic flow,the influence of aircraft noise around the airport has become significant.As most airlines are trying to decrease operation cost,stringent requirements for more simple and efficient departure trajectory are on a rise.Therefore,a departure trajectory design was established for performancebased navigation technology,and a multi-objective optimization model was developed,with constraints of safety and noise influence,as well as optimization targets of efficiency and simplicity.An improved ant colony algorithm was then proposed to solve the optimization problem.Finally,an experiment was conducted using the Lanzhou terminal airspace operation data,and the results showed that the designed departure trajectory was feasible and efficient in decreasing the aircraft noise influence. 展开更多
关键词 aircraft noise departure trajectory design multi-objective optimization Pareto ant colony algorithm
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Introduction to Ant Colony Algorithm and Its Application in CIMS
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作者 WANG Jian, WANG Yue-sheng, ZHOU Ya-jun (Department of Automation, Hangzhou Institute of Electronic and Engin eering, Hangzhou 310037, China) 《厦门大学学报(自然科学版)》 CAS CSCD 北大核心 2002年第S1期182-,共1页
Ant colony algorithm is a novel simulated ecosystem e volutionary algorithm, which is proposed firstly by Italian scholars M.Dorigo, A . Colormi and V. Maniezzo. Enlightened by the process of ants searching for food ,... Ant colony algorithm is a novel simulated ecosystem e volutionary algorithm, which is proposed firstly by Italian scholars M.Dorigo, A . Colormi and V. Maniezzo. Enlightened by the process of ants searching for food , scholars bring forward this new evolutionary algorithm. This algorithm has sev eral characteristics such as positive feedback, distributed computing and stro nger robustness. Positive feedback and distributed computing make it easier to find better solutions. Based on these characteristics, this algorithm provides a possible way for complicated combinatorial optimization problems, especially i n the field of discrete system. After a brief review on the essential principle, the research state of ant colony algorithm, this paper especially discusses the application of ant colony algorithm in CIMS. 展开更多
关键词 ant colony algorithm CIMS combinatorial optimiz ation
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Research on Ant Colony Algorithm in Vehicle Operation Adjustment Based on IOT
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作者 Xian-Min Wei 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2013年第2期17-21,共5页
Automatic solution of vehicle operation adjustment is the important content in realizing vehicle traffic command automation on Internet of Things platform. Based on both the organization realization of Internet of Thi... Automatic solution of vehicle operation adjustment is the important content in realizing vehicle traffic command automation on Internet of Things platform. Based on both the organization realization of Internet of Things platform and the merging vehicle operation adjustment into the Flow-Shop scheduling problem in manufacturing systems,this paper has constructed the optimization model with a two-lane vehicle operation adjustment. With respect to the large model solution space and complex constraints,a better solution algorithm is proposed based on ant colony algorithm for optimal quick solution. The simulation results show that the algorithm is feasible and the approximate optimal solution can be quickly obtained. 展开更多
关键词 vehicles operation adjustment flow-shop scheduling optimization model ant colony algorithm
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Design of Cybersecurity Threat Warning Model Based on Ant Colony Algorithm
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作者 Weiwei Lin Reiko Haga 《Journal on Big Data》 2021年第4期147-153,共7页
In this paper,a cybersecurity threat warning model based on ant colony algorithm is designed to strengthen the accuracy of the cybersecurity threat warning model in the warning process and optimize its algorithm struc... In this paper,a cybersecurity threat warning model based on ant colony algorithm is designed to strengthen the accuracy of the cybersecurity threat warning model in the warning process and optimize its algorithm structure.Through the ant colony algorithm structure,the local global optimal solution is obtained;and the cybersecurity threat warning index system is established.Next,the above two steps are integrated to build the cybersecurity threat warning model based on ant colony algorithm,and comparative experiment is also designed.The experimental results show that,compared with the traditional qualitative differential game-based cybersecurity threat warning model,the cybersecurity threat warning model based on ant colony algorithm has a higher correct rate in the warning process,and the algorithm program is simpler with higher use value. 展开更多
关键词 ant colony algorithm cybersecurity threats warning model index system
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UAV Path Planning Based on an Improved Ant Colony Algorithm
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作者 Hui Song Minghan Jia +2 位作者 Yihang Lian Yijing Fan Keshan Liang 《Journal of Electronic Research and Application》 2022年第2期10-25,共16页
Reviews and experimental verification have found that existing solution methods can be used to solve UAV path planning problems, but each approximate solution has its own advantages and disadvantages. For example, ant... Reviews and experimental verification have found that existing solution methods can be used to solve UAV path planning problems, but each approximate solution has its own advantages and disadvantages. For example, ant colony algorithm easily falls into the local optimum in the process of realizing path planning. In order to prevent too low pheromones on the longer path and too high pheromones in the shorter path, the upper and lower limits of pheromones as well as their volatile factors are set to avoid falling into the local optimum. Secondly, multi-heuristic factors are introduced, and the overall length of the path serves as an adaptive heuristic function factor that determines the probability of state transition, which affects the probability of ants choosing the corresponding path. The experimental results show that the path length planned by the improved algorithm is 93.6% of the original algorithm, and the optimal path length variance is only 14.22% of the original algorithm. The improved ant colony algorithm shortens the optimal path length and solves the UAV path planning problem in terms of local optima. At the same time, multiple enlightening factors are introduced to increase the suitability of UAV for complex environments and improve the performance of UAV. 展开更多
关键词 UAV Path planning ant colony algorithm
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Ant Colony Algorithm for Path Planning Based on Grid Feature Point Extraction 被引量:1
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作者 李二超 齐款款 《Journal of Shanghai Jiaotong university(Science)》 EI 2023年第1期86-99,共14页
Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony al... Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony algorithm for use in a new environment is proposed.First,the feature points of an obstacle are extracted to preprocess the grid map environment,which can avoid entering a trap and solve the deadlock problem.Second,these feature points are used as pathfinding access nodes to reduce the node access,with more moving directions to be selected,and the locations of the feature points to be selected determine the range of the pathfinding field of view.Then,based on the feature points,an unequal distribution of pheromones and a two-way parallel path search are used to improve the construction efficiency of the solution,an improved heuristic function is used to enhance the guiding role of the path search,and the pheromone volatilization coefficient is dynamically adjusted to avoid a premature convergence of the algorithm.Third,a Bezier curve is used to smooth the shortest path obtained.Finally,using grid maps with a different complexity and different scales,a simulation comparing the results of the proposed algorithm with those of traditional and other improved ant colony algorithms verifies its feasibility and superiority. 展开更多
关键词 ant colony algorithm mobile robot path planning feature points Bezier curve grid map
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A Drone-Based Blood Donation Approach Using an Ant Colony Optimization Algorithm
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作者 Sana Abbas Faraha Ashraf +2 位作者 Fahd Jarad Muhammad Shoaib Sardar Imran Siddique 《Computer Modeling in Engineering & Sciences》 SCIE EI 2023年第8期1917-1930,共14页
This article presents an optimized approach of mathematical techniques in themedical domain by manoeuvring the phenomenon of ant colony optimization algorithm(also known as ACO).A complete graph of blood banks and a p... This article presents an optimized approach of mathematical techniques in themedical domain by manoeuvring the phenomenon of ant colony optimization algorithm(also known as ACO).A complete graph of blood banks and a path that covers all the blood banks without repeating any link is required by applying the Travelling Salesman Problem(often TSP).The wide use promises to accelerate and offers the opportunity to cultivate health care,particularly in remote or unmerited environments by shrinking lab testing reversal times,empowering just-in-time lifesaving medical supply. 展开更多
关键词 NETWORK ant colony algorithm PATH complete graph blood banks DRONES travelling salesman problem
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Spatiotemporal distance embedded hybrid ant colony algorithm for a kind of vehicle routing problem with constraints
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作者 Zhenhui FENG Renbin XIAO 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2023年第7期1062-1079,共18页
We investigate a kind of vehicle routing problem with constraints(VRPC)in the car-sharing mobility environment,where the problem is based on user orders,and each order has a reservation time limit and two location poi... We investigate a kind of vehicle routing problem with constraints(VRPC)in the car-sharing mobility environment,where the problem is based on user orders,and each order has a reservation time limit and two location point transitions,origin and destination.It is a typical extended vehicle routing problem(VRP)with both time and space constraints.We consider the VRPC problem characteristics and establish a vehicle scheduling model to minimize operating costs and maximize user(or passenger)experience.To solve the scheduling model more accurately,a spatiotemporal distance representation function is defined based on the temporal and spatial properties of the customer,and a spatiotemporal distance embedded hybrid ant colony algorithm(HACA-ST)is proposed.The algorithm can be divided into two stages.First,through spatiotemporal clustering,the spatiotemporal distance between users is the main measure used to classify customers in categories,which helps provide heuristic information for problem solving.Second,an improved ant colony algorithm(ACO)is proposed to optimize the solution by combining a labor division strategy and the spatiotemporal distance function to obtain the final scheduling route.Computational analysis is carried out based on existing data sets and simulated urban instances.Compared with other heuristic algorithms,HACA-ST reduces the length of the shortest route by 2%–14%in benchmark instances.In VRPC testing instances,concerning the combined cost,HACA-ST has competitive cost compared to existing VRP-related algorithms.Finally,we provide two actual urban scenarios to further verify the effectiveness of the proposed algorithm. 展开更多
关键词 Vehicle routing problem with constraints(VRPC) Spatiotemporal distance function Labor division strategy ant colony algorithm(ACO)
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Security Test Case Prioritization through Ant Colony Optimization Algorithm
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作者 Abdulaziz Attaallah Khalil al-Sulbi +5 位作者 Areej Alasiry Mehrez Marzougui Mohd Waris Khan Mohd Faizan Alka Agrawal Dhirendra Pandey 《Computer Systems Science & Engineering》 SCIE EI 2023年第12期3165-3195,共31页
Security testing is a critical concern for organizations worldwide due to the potential financial setbacks and damage to reputation caused by insecure software systems.One of the challenges in software security testin... Security testing is a critical concern for organizations worldwide due to the potential financial setbacks and damage to reputation caused by insecure software systems.One of the challenges in software security testing is test case prioritization,which aims to reduce redundancy in fault occurrences when executing test suites.By effectively applying test case prioritization,both the time and cost required for developing secure software can be reduced.This paper proposes a test case prioritization technique based on the Ant Colony Optimization(ACO)algorithm,a metaheuristic approach.The performance of the ACO-based technique is evaluated using the Average Percentage of Fault Detection(APFD)metric,comparing it with traditional techniques.It has been applied to a Mobile Payment Wallet application to validate the proposed approach.The results demonstrate that the proposed technique outperforms the traditional techniques in terms of the APFD metric.The ACO-based technique achieves an APFD of approximately 76%,two percent higher than the second-best optimal ordering technique.These findings suggest that metaheuristic-based prioritization techniques can effectively identify the best test cases,saving time and improving software security overall. 展开更多
关键词 CONFIDENTIALITY INTEGRITY AUTHENTICATION NON-REPUDIATION RESILIENCE AUTHORIZATION ant colony Optimization algorithm
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Research on Grid Planning of Dual Power Distribution Network Based on Parallel Ant Colony Optimization Algorithm
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作者 Shuaixiang Wang 《Journal of Electronic Research and Application》 2023年第1期32-41,共10页
A distribution network plays an extremely important role in the safe and efficient operation of a power grid.As the core part of a power grid’s operation,a distribution network will have a significant impact on the s... A distribution network plays an extremely important role in the safe and efficient operation of a power grid.As the core part of a power grid’s operation,a distribution network will have a significant impact on the safety and reliability of residential electricity consumption.it is necessary to actively plan and modify the distribution network’s structure in the power grid,improve the quality of the distribution network,and optimize the planning of the distribution network,so that the network can be fully utilized to meet the needs of electricity consumption.In this paper,a distribution network grid planning algorithm based on the reliability of electricity consumption was completed using ant colony algorithm.For the distribution network structure planning of dual power sources,the parallel ant colony algorithm was used to prove that the premise of parallelism is the interactive process of ant colonies,and the dual power distribution network structure model is established based on the principle of the lowest cost.The artificial ants in the algorithm were compared with real ants in nature,and the basic steps and working principle of the ant colony optimization algorithm was studied with the help of the travelling salesman problem(TSP).Then,the limitations of the ant colony algorithm were analyzed,and an improvement strategy was proposed by using python for digital simulation.The results demonstrated the reliability of model-building and algorithm improvement. 展开更多
关键词 Parallel ant colony optimization algorithm Dual power sources Distribution network Grid planning
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Improved Ant Colony-Genetic Algorithm for Information Transmission Path Optimization in Remanufacturing Service System 被引量:7
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作者 Lei Wang Xu-Hui Xia +2 位作者 Jian-Hua Cao Xiang Liu Jun-Wei Liu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2018年第6期106-117,共12页
The information transmission path optimization(ITPO) can often a ect the e ciency and accuracy of remanufactur?ing service. However, there is a greater degree of uncertainty and complexity in information transmission ... The information transmission path optimization(ITPO) can often a ect the e ciency and accuracy of remanufactur?ing service. However, there is a greater degree of uncertainty and complexity in information transmission of remanu?facturing service system, which leads to a critical need for designing planning models to deal with this added uncer?tainty and complexity. In this paper, a three?dimensional(3D) model of remanufacturing service information network for information transmission is developed, which combines the physic coordinate and the transmitted properties of all the devices in the remanufacturing service system. In order to solve the basic ITPO in the 3D model, an improved 3D ant colony algorithm(Improved AC) was put forward. Moreover, to further improve the operation e ciency of the algorithm, an improved ant colony?genetic algorithm(AC?GA) that combines the improved AC and genetic algorithm was developed. In addition, by taking the transmission of remanufacturing service demand information of certain roller as example, the e ectiveness of AC?GA algorithm was analyzed and compared with that of improved AC, and the results demonstrated that AC?GA algorithm was superior to AC algorithm in aspects of information transmission delay, information transmission cost, and rate of information loss. 展开更多
关键词 Remanufacturing service Information transmission Path optimization ant colony algorithm Genetic algorithm
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New Hybrid Algorithm Based on BicriterionAnt for Solving Multiobjective Green Vehicle Routing Problem
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作者 Emile Nawej Kayij Joél Lema Makubikua Justin Dupar Kampempe Busili 《American Journal of Operations Research》 2023年第3期33-52,共20页
The main objective of this paper is to propose a new hybrid algorithm for solving the Bi objective green vehicle routing problem (BGVRP) from the BicriterionAnt metaheuristic. The methodology used is subdivided as fol... The main objective of this paper is to propose a new hybrid algorithm for solving the Bi objective green vehicle routing problem (BGVRP) from the BicriterionAnt metaheuristic. The methodology used is subdivided as follows: first, we introduce data from the GVRP or instances from the literature. Second, we use the first cluster route second technique using the k-means algorithm, then we apply the BicriterionAntAPE (BicriterionAnt Adjacent Pairwise Exchange) algorithm to each cluster obtained. And finally, we make a comparative analysis of the results obtained by the case study as well as instances from the literature with some existing metaheuristics NSGA, SPEA, BicriterionAnt in order to see the performance of the new hybrid algorithm. The results show that the routes which minimize the total distance traveled by the vehicles are different from those which minimize the CO<sub>2</sub> pollution, which can be understood by the fact that the objectives are conflicting. In this study, we also find that the optimal route reduces product CO<sub>2</sub> by almost 7.2% compared to the worst route. 展开更多
关键词 Metaheuristics Green Vehicle Routing Problem ant colony algorithm Genetic algorithms Green Logistics
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Power Line Communications Networking Method Based on Hybrid Ant Colony and Genetic Algorithm
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作者 Qianghui Xiao Huan Jin Xueyi Zhang 《Engineering(科研)》 2020年第8期581-590,共10页
When solving the routing problem with traditional ant colony algorithm, there is scarce in initialize pheromone and a slow convergence and stagnation for the complex network topology and the time-varying characteristi... When solving the routing problem with traditional ant colony algorithm, there is scarce in initialize pheromone and a slow convergence and stagnation for the complex network topology and the time-varying characteristics of channel in power line carrier communication of low voltage distribution grid. The algorithm is easy to fall into premature and local optimization. Proposed an automatic network algorithm based on improved transmission delay and the load factor as the evaluation factors. With the requirements of QoS, a logical topology of power line communication network is established. By the experiment of MATLAB simulation, verify that the improved Dynamic hybrid ant colony genetic algorithm (DH_ACGA) algorithm has improved the communication performance, which solved the QoS routing problems of power communication to some extent. 展开更多
关键词 Power Line Carrier Communication Network Quality of Service Hybrid ant colony and Genetic algorithm
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Ant Colony Optimization with Potential Field Based on Grid Map for Mobile Robot Path Planning 被引量:4
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作者 陈国良 刘杰 张钏钏 《Journal of Donghua University(English Edition)》 EI CAS 2016年第5期764-767,共4页
For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence a... For the mobile robot path planning under the complex environment,ant colony optimization with artificial potential field based on grid map is proposed to avoid traditional ant colony algorithm's poor convergence and local optimum.Firstly,the pheromone updating mechanism of ant colony is designed by a hybrid strategy of global map updating and local grids updating.Then,some angles between the vectors of artificial potential field and the orientations of current grid are introduced to calculate the visibility of eight-neighbor cells of cellular automata,which are adopted as ant colony's inspiring factor to calculate the transition probability based on the pseudo-random transition rule cellular automata.Finally,mobile robot dynamic path planning and the simulation experiments are completed by this algorithm,and the experimental results show that the method is feasible and effective. 展开更多
关键词 mobile robot path planning grid map artificial potential field ant colony algorithm
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