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This chapter introduces the finite element method (FEM) as a tool for solution of classical electromagnetic problems. Although we discuss the main points in the application of the finite element method to electromagnetic design, including formulation and implementation, those who seek deeper understanding of the finite element method should consult some of the works listed in the bibliography section.

Introduction to the Finite Element Method

Phototaxis, signifying movement of an organism towards or away from a source of light, is one of the most representative features for moths. It has recently been shown that one of the characteristics of moths has been the propensity to follow Levy flights. Inspired by the phototaxis and Levy flights of the moths, a new kind of metaheuristic algorithm, called moth search (MS) algorithm, is developed in the present work. In nature, moths are a family insects associated with butterflies belonging to the order Lepidoptera. In MS method, the best moth individual is viewed as the light source. Some moths that are close to the fittest one always display an inclination to fly around their own positions in the form of Levy flights. On the contrary, due to phototaxis, the moths that are comparatively far from the fittest one will tend to fly towards the best one directly in a big step. These two features correspond to the processes of exploitation and exploration of any metaheuristic optimization method. The phototaxis and Levy flights of the moths can be used to build up a general-purpose optimization method. In order to demonstrate the superiority of its performance, the MS method is further compared with five other state-of-the-art metaheuristic optimization algorithms through an array of experiments on fourteen basic benchmarks, eleven IEEE CEC 2005 complicated benchmarks and seven IEEE CEC 2011 real world problems. The results clearly demonstrate that MS significantly outperforms five other methods on most test functions and engineering cases.

Moth search algorithm: a bio-inspired metaheuristic algorithm for global optimization problems

In the structure of ANFIS, there are two different parameter groups: premise and consequence. Training ANFIS means determination of these parameters using an optimization algorithm. In the first ANFIS model developed by Jang, a hybrid learning approach was proposed for training. In this approach, while premise parameters are determined by using gradient descent (GD), consequence parameters are found out with least squares estimation (LSE) method. Since ANFIS has been developed, it is used in modelling and identification of numerous systems and successful results have been achieved. The selection of optimization method utilized in training is very important to get effective results with ANFIS. It is seen that derivate based (GD, LSE etc.) and non-derivative based (heuristic algorithms such us GA, PSO, ABC etc.) algorithms are used in ANFIS training. Nevertheless, it has been observed that there is a trend toward heuristic based ANFIS training algorithms for better performance recently. At the same time, it seems to be proposed in derivative and heuristic based hybrid algorithms. Within the scope of this study, the heuristic and hybrid approaches utilized in ANFIS training are examined in order to guide researchers in their study. In addition, the final status in ANFIS training is evaluated and it is aimed to shed light on further studies related to ANFIS training.

Adaptive network based fuzzy inference system (ANFIS) training approaches: a comprehensive survey

Heuristic approaches in robot path planning

A review: On path planning strategies for navigation of mobile robot

Mobile robot is an autonomous agent capable of navigating intelligently anywhere using sensor actuator control techniques The applications of the autonomous mobile robot in many fields such as industry space defence and transportation and other social sectors are growing day by day The mobile robot performs many tasks such as rescue operation patrolling disaster relief planetary exploration and material handling etc Therefore an intelligent mobile robot is required that could travel autonomously in various static and dynamic environments Several techniques have been applied by the various researchers for mobile robot navigation and obstacle avoidance The present article focuses on the study of the intelligent navigation techniques which are capable of navigating a mobile robot autonomously in static as well as dynamic environments

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Mobile Robot Navigation and Obstacle Avoidance Techniques: A Review

In this paper, navigation techniques for several mobile robots as many as one thousand robots using fuzzy logic are investigated in a totally unknown environment. Fuzzy logic controllers (FLC) using different membership functions are developed and used to navigate mobile robots. First a fuzzy controller has been used with four types of input members, two types of output members and three parameters each. Next two types of fuzzy controllers have been developed having same input members and output members with five parameters each. Each robot has an array of ultrasonic sensors for measuring the distances of obstacles around it and an infrared sensor for detecting the bearing of the target. These techniques have been demonstrated in various exercises, which depicts that the robots are able to avoid obstacles as well as negotiate the dead ends and reach the targets efficiently. Amongst the techniques developed, FLC having Gaussian membership function is found to be most efficient for mobile robots navigation.

Fuzzy logic techniques for navigation of several mobile robots

Matrix-Binary Codes based Genetic Algorithm for path planning of mobile robot ☆

The shortest/optimal path planning is essential for efficient operation of autonomous vehicles. In this article, a new nature-inspired meta-heuristic algorithm has been applied for mobile robot path planning in an unknown or partially known environment populated by a variety of static obstacles. This meta-heuristic algorithm is based on the levy flight behaviour and brood parasitic behaviour of cuckoos. A new objective function has been formulated between the robots and the target and obstacles, which satisfied the conditions of obstacle avoidance and target-seeking behaviour of robots present in the terrain. Depending upon the objective function value of each nest (cuckoo) in the swarm, the robot avoids obstacles and proceeds towards the target. The smooth optimal trajectory is framed with this algorithm when the robot reaches its goal. Some simulation and experimental results are presented at the end of the paper to show the effectiveness of the proposed navigational controller.

Dayal R. Parhi

Papers

A review: On path planning strategies for navigation of mobile robot

Mobile Robot Navigation and Obstacle Avoidance Techniques: A Review

Fuzzy logic techniques for navigation of several mobile robots

Matrix-Binary Codes based Genetic Algorithm for path planning of mobile robot ☆

Optimal path planning for a mobile robot using cuckoo search algorithm