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Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines

This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SD...

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Autores principales: Goher, K. M., Almeshal, A. M., Agouri, S. A., Nasir, A. N. K., Tokhi, M. O., Alenezi, M. R., Al Zanki, T., Fadlallah, S. O.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Springer Berlin Heidelberg 2017
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5487833/
https://www.ncbi.nlm.nih.gov/pubmed/28680799
http://dx.doi.org/10.1186/s40638-017-0059-1
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author Goher, K. M.
Almeshal, A. M.
Agouri, S. A.
Nasir, A. N. K.
Tokhi, M. O.
Alenezi, M. R.
Al Zanki, T.
Fadlallah, S. O.
author_facet Goher, K. M.
Almeshal, A. M.
Agouri, S. A.
Nasir, A. N. K.
Tokhi, M. O.
Alenezi, M. R.
Al Zanki, T.
Fadlallah, S. O.
author_sort Goher, K. M.
collection PubMed
description This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. However, it endures an oscillation problem near the end of the search process when using a large step size. Conversely; for a small step size, it affords better exploitation and accuracy with slower convergence. SDA provides better stability when approaching an optimum point and has faster convergence speed. This may cause the search agents to get trapped into local optima which results in low accurate solution. HSDBC exploits the chemotactic strategy of BFA and fitness accuracy and convergence speed of SDA so as to overcome the problems associated with both the SDA and BFA algorithms alone. The HSDBC thus developed is evaluated in optimizing the performance and energy consumption of two highly nonlinear platforms, namely single and double inverted pendulum-like vehicles with an extended rod. Comparative results with BFA and SDA show that the proposed algorithm is able to result in better performance of the highly nonlinear systems.
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spelling pubmed-54878332017-07-03 Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines Goher, K. M. Almeshal, A. M. Agouri, S. A. Nasir, A. N. K. Tokhi, M. O. Alenezi, M. R. Al Zanki, T. Fadlallah, S. O. Robotics Biomim Research This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. However, it endures an oscillation problem near the end of the search process when using a large step size. Conversely; for a small step size, it affords better exploitation and accuracy with slower convergence. SDA provides better stability when approaching an optimum point and has faster convergence speed. This may cause the search agents to get trapped into local optima which results in low accurate solution. HSDBC exploits the chemotactic strategy of BFA and fitness accuracy and convergence speed of SDA so as to overcome the problems associated with both the SDA and BFA algorithms alone. The HSDBC thus developed is evaluated in optimizing the performance and energy consumption of two highly nonlinear platforms, namely single and double inverted pendulum-like vehicles with an extended rod. Comparative results with BFA and SDA show that the proposed algorithm is able to result in better performance of the highly nonlinear systems. Springer Berlin Heidelberg 2017-06-16 2017 /pmc/articles/PMC5487833/ /pubmed/28680799 http://dx.doi.org/10.1186/s40638-017-0059-1 Text en © The Author(s) 2017 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
spellingShingle Research
Goher, K. M.
Almeshal, A. M.
Agouri, S. A.
Nasir, A. N. K.
Tokhi, M. O.
Alenezi, M. R.
Al Zanki, T.
Fadlallah, S. O.
Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
title Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
title_full Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
title_fullStr Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
title_full_unstemmed Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
title_short Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
title_sort hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
topic Research
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5487833/
https://www.ncbi.nlm.nih.gov/pubmed/28680799
http://dx.doi.org/10.1186/s40638-017-0059-1
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