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Article history: This paper proposes a modified two-part wolf pack search (MTWPS) algorithm updated by the two-part
Received 23 June 2016 individual encoding approach as well as the transposition and extension (TE) operation for the multiple
Received in revised form 22 February 2017 travelling salesmen problem (MTSP). Firstly, the two-part individual encoding approach is introduced
Accepted 18 August 2017
into the original WPS algorithm for MTSP, which is named the two-part wolf pack search (TWPS) algo-
Available online 31 August 2017
rithm, to minimize the size of the problem search space. Secondly, the analysis of the convergence rate
performance is presented to illustrate the reasonability of the maximum terminal generation of the novel
Keywords:
TWPS algorithm deeply. Then, based on the definition of the global reachability, the TWPS algorithm is
Multiple travelling salesmen problem
(MTSP)
modified by the TE operation further, which can greatly enhance the search ability of the TWPS algorithm.
Modified two-part wolf pack search Finally, focusing on the objective of minimizing the total travel distance and the longest tour, compar-
(MTWPS) algorithm isons of the robustness and the optimality between different algorithms are presented, and experimental
Transposition and extension (TE) operation results show that the MTWPS algorithm can obtain higher solution quality than the other the ones of the
Convergence rate other two methods
Reachability © 2017 Published by Elsevier B.V.
1. Introduction according to Ref. [1], which can be used in different scenes and
different practical applications. For example, when the MTSP has
The multiple traveling salesmen problem (MTSP), which is the only one depot, it is more suitable for express delivery services
extension of the traveling salesman problem (TSP), is a well-known [2]. On the other hand, when the MTSP includes multiple depots,
and important problem in operational research. The characteristic which is a more adequate simulation of real life situations, it can be
of the MTSP can be summarized as: m (m ≥ 2) salesmen visit n cities used in many problems, such as hot rolling scheduling [3], vehi-
(n ≥ m) and their paths between the cities and the fixed depots form cle scheduling problem (VSP) [4] and so on. Additionally, if the
a group of Hamilton circuits without sub-tours. The purpose of the tasks of MTSP consider the time window constraints, the MTSP
MTSP is to seek an optimal path in these paths. So the main differ- can be viewed as a multiple traveling salesmen problem with time
ence between MTSP and TSP is that the tasks of the MTSP demand windows (MTSPTW) [5,6]. One of the famous applications of the
more than one salesman, which leads to higher complexity. Similar MTSPTW is the mission planning problem. The mission planning
to the TSP, in essence, the MTSP is a non-deterministic polynomial problem generally arises in the context of autonomous mobile
hard (NP-hard) problem, which means that this problem cannot be robots and unmanned aerial vehicles (UAV). The applications of
solved in polynomial time on a regular computer. So seeking out the MTSPTW in mission planning problem are reported by the fol-
a high-efficient algorithm to obtain a sub-optimal solution in an lowing references: M. Alighanbari et al. make a research on the
acceptable CPU time is the main challenge for the MTSP. task allocation problem for a fleet of UAVs with tightly coupled
Compared with the TSP, even though the MTSP has a higher tasks and rigid relative timing constraints [7]. L. Evers et al. tackle
difficulty of solution-finding, it has a wider range of applications, this online stochastic UAV mission planning problem with time
especially in various routing and scheduling problems. According windows and time-sensitive targets using a re-planning approach
to the number of depots, the MTSP can be divided into four forms under the frame of the MTSPTW [8]. Besides the mission planning
problem, the MTSPTW is also applied in some situations about the
transportation of goods. For instance, B. Skinner et al. solve the
∗ Corresponding author.
transportation scheduling problem of the containers in the Patrick
AutoStrad container terminal [9]. Moreover, X. B. Wang and A. C.
E-mail addresses: bit chenyongbo@163.com (Y. Chen), jiazhenyue@163.com
(Z. Jia), bitaixiaolin@163.com (X. Ai), bluegirl 625@126.com (D. Yang), Regan solve the local truckload pickup and delivery problems in
jianqiao@bit.edu.cn (J. Yu).
http://dx.doi.org/10.1016/j.asoc.2017.08.041
1568-4946/© 2017 Published by Elsevier B.V.
Y. Chen et al. / Applied Soft Computing 61 (2017) 714–725 715
the view of the MTSPTW [5]. In short, it is extremely significant famous and commonest exact algorithm is the branch-and-bound
and valuable to research the MTSP and its variations. method, which is firstly proposed to solve the large-scale sym-
The heuristic optimization methods, which are powerful tools metric MTSP by Gavish and Srikanth [16]. Then, there are some
for the NP-hard problems, have captured much attention of the other kinds of branch-and-bound methods in solving the MTSP.
researchers. In order to solve the MTSP, a novel heuristic optimiza- For example, S. Saad et al. combine the branch-and-bound algo-
tion algorithm called two-part WPS (TWPS), which is inspired by rithm with the Hungarian method to solve the MTSP [17]. Although
Refs. [10] and [11], is presented in this paper. Then, its weakness the exact algorithms have rigorous mathematical foundations, their
is discussed around the global reachability of the initial popula- problem-solving ability is completely dependent on the size of the
tion updated by the TWPS algorithm. Finally, aimed at overcoming problem. When the size of the problem grows, the solving time will
this weakness, a transposition and extension (TE) operation, which become unacceptable. As a result, there are a growing number of
dramatically improves the solution quality, is introduced to mod- scholars turning to the research of the heuristic algorithms, which
ify this algorithm. The main contributions of this paper include: can easily obtain an optimal, sub-optimal or feasible solution for
the presentations of the TWPS algorithm based on two-part indi- the large-sized MTSP in an acceptable CPU time.
vidual representation technique for the MTSP, the discussions of With the development of computer technology, the heuristic
the reachability problem and the convergence generation of the algorithms are developed quickly and applied broadly. There are
TWPS algorithm, and the modification of the TWPS algorithm (the many heuristic algorithms that are used to solve the MTSP, such as:
MTWPS algorithm). greedy algorithm [6], evolutionary algorithm [18,19], tabu search
This paper is organized as follows: In Section 2, a literature [20], simulated annealing (SA) algorithm [21,22], market-based
overview of current works on solving the MTSP and a brief sur- algorithm [23], artificial neural network (NN) approaches [24–26]
vey of related works on the WPS algorithm are introduced. Section and so on. In these methods, there is one kind of methods continu-
3 presents the original WPS algorithm and the TWPS algorithm ously concerned by the researchers: genetic algorithms (GA).
updated by the two-part individual representation technique for The development process of GA in the MTSP is around the
the MTSP. Then, the discussion of the convergence generation of chromosome coding representation. The first reference utilizing
the TWPS algorithm and the definition of the gobal reachability of the GA for the solution of MTSP seems to be due to C. Malm-
the initial population in the TWPS algorithm are finished in Section borg [4]. He develops a GA with two chromosomes representation
4. Subsequently, the MTWPS algorithm based on the TE operation technique, which means that the first chromosome provides a per-
is presented to overcome the serious weaknesses of the algorithm mutation of the n cities and the second one assigns a salesman
in Section 5. Section 6 presents the experimental results. At last, to each of the cities in the corresponding position of the first
the conclusion and summary of this study are presented in Section chromosome, for the MTSP. Similarly, based on the same two chro-
7. mosome representation technique, Park Y.-B. proposes a hybrid
genetic algorithm (HGAV) incorporating a greedy interchange local
optimization algorithm for the vehicle scheduling problem with
2. Literature review service due times and time deadlines [27]. Beyond that, Tang, L.
et al. use a different GA with one chromosome representation tech-
As a widely applicable problem, the MTSP has been solved by nique, whose length of chromosome is n + m-1, to solve the MTSP
many approaches. In the tactical and problem conversion level, model developed for the hot rolling scheduling [28]. In later ref-
these approaches can be divided into two kinds: direct approach erence, Arthur E. Carter and Cliff T. Ragsdale put forward a new
and transformation approach. The direct approach means that this chromosome encoding scheme with a two-part chromosome rep-
approach can solve the MTSP directly, without any transformation resentation [4]. Based on these methods, Shuai Yuan et al. point
to the TSP. And if not, it is a transformation approach. For example, out that two chromosomes encoding schemes based on Refs. [27]
one of the first direct approaches to solve the MTSP is presented by and [28] have a larger number of redundant solutions in the search
Laporte and Nobert [12]. They propose an algorithm whose main space compared with the latter two-part chromosome represen-
characteristic is the relaxation of most of the constraints of the tation based on Ref. [4]. Additionally, in the recent literature, the
problem during its solution. Because the classical TSP has received authors of Ref. [28] present a multi-structure GA. Even though this
a great deal of attention and it is also a test problem for most representation doesn’t have the redundant problem, it may lead to
optimization methods, a lot of optimization methods can be used the overlarge storage space of the chromosome and the overly com-
to solve a standard TSP. Therefore, the transformation approach, plex updated process of crossover and mutation operation, when
which means to transform the MTSP into the standard TSP, is a the size of the MTSP is large. In a word, the two-part chromosome
common idea to solve the MTSP. In this way, most optimization representation is the best coding scheme so far, so this representa-
methods used in the TSP could be applied to the MTSP. For example, tion is used to improve the original WPS algorithm in this paper.
one of the pioneers using the transformation approach is Goren- In view of all the above heuristic algorithms, most of them can
stein S, whose main ideas are to add m-1 additional home cities to obtain the optimal/sub-optimal solution of the middle and small-
a MTSP with m traveling salesmen and to set the home-to-home sized problem easily, but for the large-sized problem their solution
distances as infinite at the same time [13]. In the recent literature, effects are tremendously different. Therefore, it is imperative to
P. Oberlin1 et al. present a transformation approach to a multi- find more efficient heuristic algorithms for the large-sized MTSP.
ple depots, multiple traveling salesmen problem, and then use the In this paper, the WPS algorithm is introduced and modified to
Kernighan-Lin (LKH) heuristic algorithm, which is one of the best solve the MTSP. The idea of the WPS algorithm is first presented
heuristics for solving the travelling salesman problem, to obtain by Chenguang Yang et al., which is used to be the local search-
the solution [14]. Even though some transformation approaches ing to replace the worker in Marriage in Honey Bees Optimization
are simple and feasible, the obtained TSP may be seriously deterio- (MBO) algorithm [29]. Then, it is presented again by Hu-Sheng Wu
rated, which leads to the solving difficulty of the new problem and and Feng-Ming Zhang with a few modifications and renamed as
is even harder to solve the original MTSP [15]. wolf pack algorithm (WPA). At the same time, some test optimiza-
In the sense of the optimization methods, these approaches can tion functions are solved by the WPS algorithm compared with the
also be classified into two kinds: exact algorithms and heuristic GA, the particle swarm optimization (PSO) algorithm, the artificial
algorithms [15]. The exact algorithms are a kind of early algorithms, fish swarm (ABC) algorithm, the artificial bee colony (ACO) algo-
which are based on the rigorous mathematical theory. The most rithm, and the firefly algorithm (FA) [30]. The results show that
716 Y. Chen et al. / Applied Soft Computing 61 (2017) 714–725
the original WPS algorithm has better convergence and robustness, Based on the above description of a wolf pack, we abstract the
especially for high-dimensional functions. The MTSP is a typical process of the WPS algorithm. The frame of the original WPS algo-
high-dimensional problem, whose dimension grows quickly with rithm consists of the following steps:
the number of cities and salesmen. Hence, also considering its nov- 1) Initialization −set the initial parameters, such as: popula-
elty, we choose to modify the WPS algorithm for this problem. In tion quantity N, approach rate Step, elitism quantity N’, the number
fact, the original WPS algorithm and the TWPS algorithm are not of weak wolves N*, local search scale R and so on, then randomly
good global optimization methods for the large-sized MTSP, which generate an initial wolf pack {wolfi , i = 1, 2, . . ., N};
will be discussed and shown in Sections 4 and 6. But there is a lot 2) Fitness – evaluate the cost functions of all wolves f(wolfi ), i = 1,
of room to improve, so it is improved and applied to the large-sized 2, . . ., N;
MTSP in this paper. 3) Elitism – select a more appropriate small group {wolfi ,
i = eltism1 , eltism2 , . . ., eltismN } in the pack;
4) Safari – optimize in a small scale OR (wolfi ), i = eltism1 , eltism2 ,
. . ., eltismN , and obtain a the best wolf GBest;
3. The original WPS algorithm and the novel TWPS
5) Approach −get close to the best wolf GBest:
algorithm
GBest − wolfi
wolfnewi = wolfi + step , i = 1, 2, . . ., N (1)
3.1. The original WPS algorithm |GBest − wolfi |
The WPS algorithm is inspired by the uniform action of a social 6) Replacement 1–replace the original best wolf GBest, if a new
wolf pack. They cooperate well with each other and attack their wolf wolfnew appears whose cost function f(wolfnew ) is optimal than
competitors and preys. The whole process of the hunting activity f(GBest).
of a wolf group can be summarized as the following process: Firstly, 7) Replacement 2–sort the whole wolf pack, replace last N* old
the safari wolves, which are more experienced and stronger than weak wolves by N* new random ones;
the others, need to be elected to walk around; Secondly, the safari 8) Loop – go back to step 2.
wolves will search the smell round them. One of the safari wolves Of course, the whole circulation will stop if an end condition is
may find the thickest odor which means the quarries are around satisfied, otherwise, it will continue.
here; Thirdly, it will inform all the other wolves by its howling. The
whole wolf pack members will move towards the directions of the 3.2. The TWPS algorithm for MTSP
howling. At the same time, the quarries can be constrained in a
smaller area; Finally, some wolves may stop their hunting activ- Based on the recent references [29] and [30], we can see that
ity, because their physical conditions are bad and they will die. the original WPS algorithm can be directly used in the real-valued
Instead, some new wolves may join the wolf pack. So the members unconstrained global optimization problems. All operations of the
of the wolf pack are updated constantly during the hunting pro- WPS algorithm are suitable for the continuous functions. However,
cess. The original WPS algorithm is to imitate the above process. the MTSP is a 0–1 integer programming problem with complex
The schematic diagram of the original WPS algorithm is shown in constraints. So it cannot be applied to the MTSP directly. In order
Fig. 1: to solve this problem, in this section, we propose a novel WPS
Y. Chen et al. / Applied Soft Computing 61 (2017) 714–725 717
Fig. 2. Example of the two-part individual representation technique for 8 cities with
3 salesmen.
Fifthly, the cost functions of all new wolves are computed and
compared with the original ones. Next, the original best wolf GBest
and the last N* old weak wolves are replaced respectively by a new
wolf wolfnew whose cost function f(wolfnew ) is better than f(GBest)
and N* new random wolves.
Finally, repeat step 2 to step 5 until the ending conditions are
met.
6. Computational results
6.1. Comparision
Table 1
The computational results of three algorithms.
Data set m TCX Avg TWPS Avg Best SD MTWPS Avg Best SD
mum terminal generation Gmax is set as 20000. Let us make a small kn(n − 1)/(2Step) = 189975, where Step = 1, in the worst situation. Of
discussion about this phenomenon. The theoretical lower bounds course, even though, in common situations, the convergence gen-
of the convergence probability of the wolf in the above 3 MTSPs erations are much smaller than 189975, the maximum terminal
growing with the accommodation coefficient k are shown in Fig. 9. generations in our simulations, which are set as 20000, are insuf-
According to Proposition 1, for the MTSP150, if we demand that ficient seriously. What is more, the above result is obtained based
the theoretical lower bound of the convergence probability of the on the assumption that the optimal wolf is permanent. In the real
wolf (1−(1/2)k )n(n−1)/2 > 90%, the convergence generations will be updated process, the optimal wolf is also constantly updated. So
722 Y. Chen et al. / Applied Soft Computing 61 (2017) 714–725
Fig. 9. The convergence probability growing with the accommodation coefficient k. 6.2. Statistical hypothesis testing
Table 2
The computational results of the three algorithms.
Data set m TCX Avg TWPS Avg Best SD MTWPS Avg Best SD
Table 3
The Mann-Whitney results of the three algorithms.
Table 4
Computer system used for the experimental test.
Self-assembly Computer Intel(R) Core(TM) i7–4790 K CPU @ 4.0 GHz 32.00GB DDR3 1600 MHz Windows 7 professional 64 bits MATLAB R2014a
Table 5
Average simulation time of the MTWPS algorithm.
simulations of our MTWPS algorithm are coded by MATLAB and Population Size N MTSP51 MTSP100 MTSP150
finished by the following computer systems shown in Table 4.
50 631 31120 50313
Under these conditions, the average simulation time of the 100 627 30751 49207
MTWPS algorithm for all cases (MTSP-51, MTSP-100 and MTPS- 500 614 30150 48519
150) is shown in the following Table 5. 1000 610 29901 48131
In Table 5, we can see that the longest simulation time of these
cases is 21972s. In the reference [11], their all programs were imple-
travel distance of all the salesmen. Then, the best cost functions of
mented in C++. It is well known that, for the same algorithm, its
the three methods are shown in Fig. 10.
CPU time using the MATLAB program is tens times longer than
the time using the C++ program usually. So the maximum terminal
6.4.2. Simulation parameters
generations of the CTX algorithm can be set as 50000, 100000 and
Except the simulation map, the parameter settings are very sig-
200,000 in an acceptable CPU time. If our terminal generations are
nificant for the quality and performance of the MTWPS algorithm.
set as these parameters, 30 trials will cost too much time. So our
So, the robustness and sensitivity of the MTWPS parameters is ana-
maximum terminal generations Gmax are set as 20,000.
lyzed in this part.
The first important parameter is the population size of the wolf
6.4. Robustness pack N. In Table 6, the average cost functions of the MTWPS algo-
rithm with the objective of minimizing the total travel distance for
6.4.1. Random maps the MTSP51, MTSP100 and MTSP150 problems (m = 10) are shown
The above simulations are all finished by some classical data. with the increase of the population size.
Only finishing these problems is not sufficient to show that the It is easy to understand that the mean values of the solutions
MTWPS algorithm has better performance than the other two decrease with the increase of the population size N, but meanwhile
methods, so the positions of cities are randomly generated in a their computation time will increase.
1000 × 1000 map. Of course, in one simulation, the maps of the The other one is the approach rate Step. In Table 7, the influence
three algorithms are same. In these simulations, the number of of the approach rate Step for the MTWPS algorithm with the objec-
salesmen m is set as 3. The numbers of cities are respectively set tive of minimizing total travel distance for the MTSP51, MTSP100
as 51, 100 and 150. The cost function is set as the minimum total and MTSP150 problems (m = 10) is shown. It is easy to find that,
724 Y. Chen et al. / Applied Soft Computing 61 (2017) 714–725
Table 7 7. Conclusion
The robustness and sensitivity of the MTWPS algorithm for the approach rate.
Approach Rate Avg Best This paper firstly introduces a novel TWPS algorithm based on
Step the original WPS algorithm in order to solve the MTSP. Secondly, the
MTSP51 MTSP100 MTSP150 MTSP51 MTSP100 MTSP150 convergence performance of the TWPS algorithm is analyzed and
discussed to help to understand the reasonability of the maximum
1 627 30751 49207 602 29897 47709
2 620 30897 48303 602 29897 47129 terminal generation. Then, based on the definition and discussion
3 631 32021 46724 621 31534 46260 of the global reachability of the initial population in the TWPS algo-
4 630 32317 45862 622 31601 45500 rithm, the TE operation is proposed to break through this weakness
5 664 37211 45606 652 36807 45180 and it can greatly enhance the search ability of the TWPS algorithm,
named the MTWPS algorithm. Finally, some experimental results,
including the comparison, the robustness and the optimality gap,
for the small-sized problem, such as MTSP51 problem, the solution
focused on the objective of minimizing total travel distance and
quality remains the same when the approach rate Step is small and
the objective of minimizing the longest tour are shown that the
it becomes worse when the approach rate Step is bigger than 2. Its
MTWPS algorithm can produce higher solution quality than the
main causes are that for the small-sized problem the maximum ter-
TWPS algorithm and the GA with TCX operator.
minal generation 20000 is big enough to end the updated process
Our future work will focus on two main areas. Firstly, we would
of the algorithm, and meanwhile the too big approach rate Step will
like to finish the convergence analysis of the MTWPS algorithm
lead to the miss of some potential optimal or sub-optimal points.
by the Markov Chain. Secondly, since many practical problems can
So, for the small-sized problem, the approach rate Step had better
be cast into the MTSP or the MTSPTW, we will apply the MTWPS
be set as 1 or 2. However, for the large-sized problem, especially
algorithm for solving a large-sized MTSPTW problem in the UAV
MTSP150 problem, the solution quality significantly improves with
mission planning problem.
the increase of the approach rate Step. The reason has been dis-
cussed in Section 6.1.1.
Acknowledgment
6.5. Optimality gap
We would like to thank A.P. Shoudong Huang (UTS), Dr. M.S.
As a meta-heuristic algorithm, the MTWPS algorithm cannot Yuan for providing us with data sets and useful information.
guarantee to find the optimal solutions of the symmetric MTSP.
But it is a good evaluation way to judge whether a meta-heuristic
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