萤火虫算法以及避障算法path planning in uncertain environment by using firefly algorithm(萤火虫算法在实际中的应用)

萤火虫算法以及避障算法path planning in uncertain environment by using firefly algorithm(萤火虫算法在实际中的应用)

萤火虫算法介绍

2008年，Yang提出了基于自然的元启发式算法。其灵感来自萤火虫的闪烁行为。这是一种新的人工智能方法，被广泛地应用于各个领域的优化和自主系统。

萤火虫通过发光这个信号吸引其他的萤火虫，吸引雌雄萤火虫的吸引力取决于闪光的节奏、闪光的节奏、闪光的速度和闪光的时间、观察到的光的时间。萤火虫的闪光被用作要优化的目标函数。当另一只萤火虫拥有较高的光强度时，另一只萤火虫就有可能被吸引。这就是FA工作的基本概念。

它基于如下三个准则

• 所有萤火虫没有性别，并且被吸引的时候不考虑性别
• 萤火虫的吸引程度与它的亮度成正比。因此，对于任何两只闪光的萤火虫，亮度较低的那只会向亮度较高的那只移动。两只萤火虫之间的距离越小，亮度就越高。萤火虫的随机移动等于闪烁的萤火虫的亮度
• 目标函数用于评价萤火虫的亮度

有如下的优缺点

在特征提取、聚类等问题上的性能胜过大多传统算法	发现率低、求解精读不高、求解速度慢。

$$定义\beta (r)（萤火虫的吸引力）,{\beta }_0（r=0时萤火虫的吸引力所乘的吸收光的系数）$$

萤火虫的吸引力通过如下公式给出
$$\beta (r)={\beta }_0\exp \left(-\gamma r^m\right);m\ge 1$$
两个萤火虫之间的距离
$$r_{ij}=\Vert x_i-x_j\Vert =\sqrt{\sum _{k=1}^d{\left(x_i^k-x_j^k\right)}^2}$$
暗萤火虫向明亮萤火虫移动的公式如下

这里贴出github上的代码

% =========================================================%
% Firefly Algorithm by X S Yang (Cambridge University)     %
% Usage: firefly_simple([number_of_fireflies,MaxGeneration])
%  eg:   firefly_simple([12,50]);                          %
% ======================================================== %
% This is a demo for 2D functions; for higher dimenions,   %
% you should use fa_ndim.m or fa_mincon.m                  %
% Parameters choice:
% Gamma should be linked with scales. Otherwise, the FA    %
% the efficiency will be significantly reduced because     %
% the beta term may be too small.                          %
% Similarly, alpha should also be linked with scales,      %
% the steps should not too large or too small, often       %
% steps are about 1/10 to 1/100 of the domain size.        %
% In addition, alpha should be reduced gradually           %
% using alpha=alpha_0 delta^t during eteration t.          %
% Typically, delta=0.9 to 0.99 will be a good choice.      %
% ======================================================== %

function [best]=firefly_simple(instr)
% n=number of fireflies
% MaxGeneration=number of pseudo time steps
if nargin<1,   instr=[12 50];     end
n=instr(1);  MaxGeneration=instr(2);
% Show info
help firefly_simple.m
rand('state',0);  % Reset the random generator
% ------ Four peak functions ---------------------
str1='exp(-(x-4)^2-(y-4)^2)+exp(-(x+4)^2-(y-4)^2)';
str2='+2*exp(-x^2-(y+4)^2)+2*exp(-x^2-y^2)';
funstr=strcat(str1,str2);
% Converting to an inline function
f=vectorize(inline(funstr));
% range=[xmin xmax ymin ymax];
range=[-5 5 -5 5];

% ------------------------------------------------
alpha=0.2;      % Randomness 0--1 (highly random)
gamma=1.0;      % Absorption coefficient
delta=0.97;      % Randomness reduction (similar to
% an annealing schedule)
% ------------------------------------------------
% Grid values are used for display only
Ngrid=100;
dx=(range(2)-range(1))/Ngrid;
dy=(range(4)-range(3))/Ngrid;
[x,y]=meshgrid(range(1):dx:range(2),...
    range(3):dy:range(4));
z=f(x,y);
% Display the shape of the objective function
figure(1);    surfc(x,y,z);

% ------------------------------------------------
% generating the initial locations of n fireflies
[xn,yn,Lightn]=init_ffa(n,range);
% Display the paths of fireflies in a figure with
% contours of the function to be optimized
figure(2);
pic_num = 1;
% Iterations or pseudo time marching
for i=1:MaxGeneration,     %%%%% start iterations
    % Show the contours of the function
    contour(x,y,z,15); hold on;
    % Evaluate new solutions
    zn=f(xn,yn);

    % Ranking the fireflies by their light intensity
    [Lightn,Index]=sort(zn);
    xn=xn(Index); yn=yn(Index);
    xo=xn;   yo=yn;    Lighto=Lightn;
    % Trace the paths of all roaming  fireflies
    plot(xn,yn,'.','markersize',10,'markerfacecolor','g');
    % Move all fireflies to the better locations
    [xn,yn]=ffa_move(xn,yn,Lightn,xo,yo,Lighto,alpha,gamma,range);
    drawnow;
    % Use "hold on" to show the paths of fireflies
    F=getframe(gcf);
    I=frame2im(F);
    [I,map]=rgb2ind(I,256);
    if pic_num == 1
        imwrite(I,map,'test.gif','gif', 'Loopcount',inf,'DelayTime',0.2);
    else
        imwrite(I,map,'test.gif','gif','WriteMode','append','DelayTime',0.2);
    end
    pic_num = pic_num + 1;
    hold off;

    % Reduce randomness as iterations proceed
    alpha=newalpha(alpha,delta);

end   %%%%% end of iterations
best(:,1)=xo'; best(:,2)=yo'; best(:,3)=Lighto';

% ----- All subfunctions are listed here ---------
% The initial locations of n fireflies
function [xn,yn,Lightn]=init_ffa(n,range)
xrange=range(2)-range(1);
yrange=range(4)-range(3);
xn=rand(1,n)*xrange+range(1);
yn=rand(1,n)*yrange+range(3);
Lightn=zeros(size(yn));

% Move all fireflies toward brighter ones
function [xn,yn]=ffa_move(xn,yn,Lightn,xo,yo,...
    Lighto,alpha,gamma,range)
ni=size(yn,2); nj=size(yo,2);
for i=1:ni,
    % The attractiveness parameter beta=exp(-gamma*r)
    for j=1:nj,
        r=sqrt((xn(i)-xo(j))^2+(yn(i)-yo(j))^2);
        if Lightn(i)<Lighto(j), % Brighter and more attractive
            beta0=1;     beta=beta0*exp(-gamma*r.^2);
            xn(i)=xn(i).*(1-beta)+xo(j).*beta+alpha.*(rand-0.5);
            yn(i)=yn(i).*(1-beta)+yo(j).*beta+alpha.*(rand-0.5);
        end
    end % end for j
end % end for i
[xn,yn]=findrange(xn,yn,range);

% Reduce the randomness during iterations
function alpha=newalpha(alpha,delta)
alpha=alpha*delta;

% Make sure the fireflies are within the range
function [xn,yn]=findrange(xn,yn,range)
for i=1:length(yn),
    if xn(i)<=range(1), xn(i)=range(1); end
    if xn(i)>=range(2), xn(i)=range(2); end
    if yn(i)<=range(3), yn(i)=range(3); end
    if yn(i)>=range(4), yn(i)=range(4); end
end
%  ============== end =====================================

萤火虫避障算法

避障的流程图如上，效果如下

由于论文中的避障部分代码不详细，思路不详细，不多叙述

参考论文：Path planning in uncertain environment by using firefly algorithm