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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 316826, 12 pages
Research Article

An Optimization Algorithm with Novel RFA-PSO Cooperative Evolution: Applications to Parameter Decision of a Snake Robot

1School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China
2State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110000, China

Received 14 July 2014; Revised 30 October 2014; Accepted 13 November 2014

Academic Editor: Victor Santibáñez

Copyright © 2015 Qin Gao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The success to design a hybrid optimization algorithm depends on how to make full use of the effect of exploration and exploitation carried by agents. To improve the exploration and exploitation property of the agents, we present a hybrid optimization algorithm with both local and global search capabilities by combining the global search property of rain forest algorithm (RFA) and the rapid convergence of PSO. Originally two kinds of agents, RFAAs and PSOAs, are introduced to carry out exploration and exploitation, respectively. In order to improve population diversification, uniform distribution and adaptive range division are carried out by RFAAs in flexible scale during the iteration. A further improvement has been provided to enhance the convergence rate and processing speed by combining PSO algorithm with potential guides found by both RFAAs and PSOAs. Since several contingent local minima conditions may happen to PSO, special agent transformation is suggested to provide information exchanging and cooperative coevolution between RFAAs and PSOAs. Effectiveness and efficiency of the proposed algorithm are compared with several algorithms in the various benchmark function problems. Finally, engineering design optimization problems taken from the gait control of a snake-like robot are implemented successfully by the proposed RFA-PSO.