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

<div>Behavior of a Hopf oscillator when <svg height="6.20645pt" id="M159" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -6.00005 5.67144 6.20645" width="5.67144pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M397 380C406 395 404 411 396 425S369 451 350 451C302 451 239 372 192 294H189L199 338C214 407 207 451 180 451C152 451 83 405 30 345L48 318C87 354 117 372 125 372S135 362 127 324L55 -5L61 -12C87 -5 117 3 139 5C154 87 168 162 179 207C198 250 240 310 260 332C281 355 297 366 307 366C321 366 333 360 347 346C351 342 360 342 369 348C379 355 389 366 397 380Z" id="g50-115"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="427" vert-adv-y="427"></glyph.data></g></svg> and <svg height="6.20645pt" id="M160" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -6.00005 8.55521 6.20645" width="8.55521pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M624 292C624 400 569 451 537 451C520 451 497 442 490 436L489 427C521 404 550 351 550 280C550 170 513 51 423 51C383 51 361 87 361 150C361 197 384 301 397 339L391 343L310 328C307 297 301 249 293 212C270 102 223 56 182 56C144 56 114 93 114 172C114 278 161 369 243 430L223 457C99 392 24 290 24 156C24 43 81 -12 141 -12C187 -12 247 32 286 88C295 31 325 -12 380 -12C431 -12 475 16 511 49C581 113 624 195 624 292Z" id="g50-246"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="648" vert-adv-y="648"></glyph.data></g></svg> are changed at time 8 s.</div>

Mathematical Problems in Engineering

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Figure 4

Figure 4: An Optimization Algorithm with Novel RFA-PSO Cooperative Evolution: Applications to Parameter Decision of a Snake Robot 