The International Journal of Fuzzy Logic and Intelligent Systems

eISSN 2093-744X
pISSN 1598-2645

Subplanner AFRORE for escaping from local minima

Function: AFRORE(localmin, type)
/ * Atractive Force Rotation * /
WHILElocalmin
SWITCHtype
   case
   • Fatt|sRotz(θR) · Fatt|s Eq. (21)
   • Do Eq. (12), Eq. (13), Eq. (14), and Eq. (15)
   • checkpointp1(q)
   break
   case
   • Fatt|sRotz(θ1) · Rotx(θR) · Fatt|s Eq. (22)
   • Do Eq. (12), Eq. (13), Eq. (14), and Eq. (15)
   • checkpoint ← {p2(q), p3(q), p4(q), p5(q)}
   break
END
IF min ||checkpoint – oj||≥ δ
  localminfalse
   break
ELSE
  repeat WHILE
END
/ * Atractive Force Restoration * /
WHILE min ||checkpoint – oj||≤ αδ
SWITCHtype
   case
   • Fatt|sRotz(θL) · Fatt|s Eq. (23)
   • Do Eq. (12), Eq. (13), Eq. (14), and Eq. (15)
   • checkpointp1(q)
   break
   case
  • Fatt|sRotz(θ1) · Rotx(θL) · Fatt|s Eq. (25)
  • Do Eq. (12), Eq. (13), Eq. (14), and Eq. (15)
  • checkpoint ← {p2(q), p3(q), p4(q), p5(q)}
   break
END
IF min ||checkpoint – oj||≥ αδ
   break
ELSE
  repeat WHILE
END
International Journal of Fuzzy Logic and Intelligent Systems 2018;18:263~275 https://doi.org/10.5391/IJFIS.2018.18.4.263
© IJFIS
© The Korean Institute of Intelligent Systems. / Powered by INFOrang Co., Ltd