Planning Techniques for Robotics

Mahmoud Abdelaal

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 Lecture # 4

Artificial Bee Colony

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 Introduction to ABC

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Introduction to ABC

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Introduction to ABC

• ABC optimization is inspired by Bee’s behavior in the nature.

• ABC is a metaheuristic algorithm based on intelligent search behavior of

Honey Bee Colony.

• In ABC, Bees search for rich food sources.

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Introduction to ABC
ABC optimization algorithm are divided into 3 groups.
• Employee Bees

• Onlooker Bees

• Scout Bees

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Introduction to ABC
Key points

• Nectar / food sources =solutions that associated with each employed bee

• Nectar / food sources quality is determine by fitness value

• Best solution means solution with greatest fitness value

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Introduction to ABC

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Introduction to ABC

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 Numerical Example

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 ABC Algorithm

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ABC Algorithm
ABC pseudocode.

• Artificial Bee Colony (ABC) Optimization Algorithm Pseudocode

• Initialization Phase
• REPEAT
• Employee Bees Phase
• Onlooker Bees Phase
• Scout Bees Phase
• Memories the best solution achieved.
• UNTIL Stopping criteria is met.

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ABC Algorithm
Application used ABC

• Numerical assessment problems

• Software testing
• Bioinformatics fields
• Face pose estimation
• Advisory system

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ABC Algorithm
Advantages and Limitations
Advantages:
• Simplicity, flexibility and robustness
• Ability to explore local solutions
• Ability to handle objective cost
• Ease of implementation
• Popular
• Broad applicability, complex functions

Limitations
• Lack of use of secondary information
• Requires new fitness tests on new algorithm parameters
• Higher number of objective function evaluation
• Slow when in sequential processing

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Thank you for your attention !

Good Luck !

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