Abstract
Whale optimization algorithm (WOA) has been developed based on the hunting behavior of humpback whales. Though it has a considerable convergence speed, WOA suffers from diversity in the solution due to the low exploration of search space. As a result, it tends to trap in local optima and suffer from low solution accuracy. This study proposes a novel improved WOA method (ImWOA) with increased diversity in the solution to avoid the aforesaid gaps. The random solution selection process in the search prey phase is altered to increase exploration. The whale's cooperative hunting strategy is also incorporated in the algorithm's exploitation phase to balance the exploration and exploitation phase of WOA. Also, the total iterations are divided into two halves explicitly for exploration and exploitation purposes. The modifications facilitate WOA to jump out of local optima, increase solution accuracy, and increase convergence speed. The experiments were carried out evaluating IEEE CEC 2017 functions in dimensions 10, 30, 50, and 100. The performances were compared with basic algorithms as well as recent WOA variants. Three engineering design problems have also been solved to check its problem-solving ability and compared with a wide range of algorithms. Moreover, the image segmentation problem with multiple thresholding approaches has been solved by using the proposed ImWOA. Comparing results with state-of-the-art algorithms and modified WOAs, statistical analysis, diversity analysis, and convergence analysis validate that ImWOA is superior or competitive.
Similar content being viewed by others
References
Abd Elaziz M, Oliva D, Xiong S (2017) An improved opposition-based sine cosine algorithm for global optimization. Expert Syst Appl 90:484–500. https://doi.org/10.1016/j.eswa.2017.07.043
Alamri HS, Alsariera YA, Zamli KZ (2018) Opposition-based whale optimization algorithm. Adv Sci Lett 24(10):7461–7464
Alsattar HA, Zaidan AA, Zaidan BB (2020) Novel meta-heuristic bald eagle search optimisation algorithm. Artif Intell Rev 53(3):2237–2264. https://doi.org/10.1007/s10462-019-09732-5
Andrew AM (1998) Modern heuristic search methods. Kybernetes 27(5):582–585. https://doi.org/10.1108/k.1998.27.5.582.3
Arora S, Singh S (2019) Butterfly optimization algorithm: a novel approach for global optimization. Soft Comput 23(3):715–734. https://doi.org/10.1007/s00500-018-3102-4
Askari Q, Saeed M, Younas I (2020) Heap-based optimizer inspired by corporate rank hierarchy for global optimization. Expert Syst Appl 161:113702. https://doi.org/10.1016/j.eswa.2020.113702
Awad NH, Ali MZ, Suganthan PN, Liang JJ, Qu BY (2016). Problem definitions and evaluation criteria for the CEC 2017 special session and competition on single objective bound constrained real-parameter numerical optimization. http://web.mysites.ntu.edu.sg/epnsugan/PublicSite/SharedDocuments/Forms/AllItems.aspx?RootFolder=%2Fepnsugan%2FPublicSite%2FSharedDocuments%2FCEC-2017&View=%7BDAF31868–97D8–4779-AE49–9CEC4DC3F310%7D
Chakraborty S, Kumar Saha A, Sharma S, Mirjalili S, Chakraborty R (2020) A novel enhanced whale optimization algorithm for global optimization. Comput Ind Eng 153(August2020):107086. https://doi.org/10.1016/j.cie.2020.107086
Chen H, Xu Y, Wang M, Zhao X (2019) A balanced whale optimization algorithm for constrained engineering design problems. Appl Math Model 71:45–59. https://doi.org/10.1016/j.apm.2019.02.004
Chen H, Yang C, Heidari AA, Zhao X (2020) An efficient double adaptive random spare reinforced whale optimization algorithm. Expert Syst Appl 154:113018. https://doi.org/10.1016/j.eswa.2019.113018
Crepinsek M, Liu SH, Mernik M (2013) Exploration and exploitation in evolutionary algorithms: a survey. ACM Comput Surv DOI. https://doi.org/10.1145/2480741.2480752
Das S, Suganthan PN (2011) Problem definitions and evaluation criteria for CEC 2011 competition on testing evolutionary algorithms on real world optimization problems. Electronics, 1–42. http://web.mysites.ntu.edu.sg/epnsugan/PublicSite/SharedDocuments/CEC2011-RWP/Tech-Rep.pdf
Dhiman G, Kumar V (2018) Emperor penguin optimizer: a bio-inspired algorithm for engineering problems. Knowl-Based Syst 159:20–50. https://doi.org/10.1016/j.knosys.2018.06.001
Ding H, Wu Z, Zhao L (2020) Whale optimization algorithm based on nonlinear convergence factor and chaotic inertial weight. Concurr Comput 32(24):1–26. https://doi.org/10.1002/cpe.5949
Dukic ML, Dobrosavljevic ZS (1990) A method of a spread-spectrum radar polyphase code design. IEEE J on Sel Areas in Commun 8(5):743–749
Du P, Cheng W, Liu N, Zhang H, Lu J (2020) A modified whale optimization algorithm with single-dimensional swimming for global optimization problems. Symmetry 12(11):1–23. https://doi.org/10.3390/sym12111892
Elhosseini MA, Haikal AY, Badawy M, Khashan N (2019) Biped robot stability based on an A-C parametric whale optimization algorithm. J Comput Sci 31:17–32. https://doi.org/10.1016/j.jocs.2018.12.005
Fan Q, Chen Z, Li Z, Xia Z, Yu J, Wang D (2020a) A new improved whale optimization algorithm with joint search mechanisms for high-dimensional global optimization problems. Eng Comput. https://doi.org/10.1007/s00366-019-00917-8
Fan Q, Chen Z, Zhang W, Fang X (2020b) ESSAWOA: enhanced whale optimization algorithm integrated with salp swarm algorithm for global optimization. Eng Comput. https://doi.org/10.1007/s00366-020-01189-3
Farshi TR, Drake JH, Özcan E (2020) A multimodal particle swarm optimization-based approach for image segmentation. Expert Syst Appl. https://doi.org/10.1016/j.eswa.2020.113233
Gonzalez RC, Woods RE (2006) Digital Image Processing Prentice
Hain JHW, Ellis SL, Kenney RD, Clapham PJ, Gray BK, Weinrich MT, Babb IG (1995) Apparent bottom feeding by humpback whales on stellwagen bank. Mar Mamm Sci 11(4):464–479. https://doi.org/10.1111/j.1748-7692.1995.tb00670.x
He L, Huang S (2017) Modified firefly algorithm based multilevel thresholding for color image segmentation. Neurocomputing 240:152–174. https://doi.org/10.1016/j.neucom.2017.02.040
Houssein EH, Helmy BE, Oliva D, Elngar AA, Shaban H (2020) A novel black widow optimization algorithm for multilevel thresholding image segmentation. Expert Syst Appl. https://doi.org/10.1016/j.eswa.2020.114159
Huo F, Sun X, Ren W (2020) Multilevel image threshold segmentation using an improved Bloch quantum artificial bee colony algorithm. Multimedia Tools Appl 79(3–4):2447–2471. https://doi.org/10.1007/s11042-019-08231-7
Jena B, Naik MK, Panda R, Abraham A (2021) Maximum 3D Tsallis entropy based multilevel thresholding of brain MR image using attacking Manta Ray foraging optimization. Eng Appl of Artif Intel 103:104293
Jiang R, Yang M, Wang S, Chao T (2020) An improved whale optimization algorithm with armed force program and strategic adjustment. Appl Math Model 81:603–623. https://doi.org/10.1016/j.apm.2020.01.002
Kapur JN, Sahoo PK, Wong AK (1985) A new method for gray-level picture thresholding using the entropy of the histogram. Computer vision, graphics, and image processing, 29(3):273–285
Kaur G, Arora S (2018) Chaotic whale optimization algorithm. J Comput Des Eng 5(3):275–284. https://doi.org/10.1016/j.jcde.2017.12.006
Kaur S, Awasthi LK, Sangal AL, Dhiman G (2020) Tunicate Swarm Algorithm: a new bio-inspired based metaheuristic paradigm for global optimization. Eng Appl Artif Intell 90(December2018):103541. https://doi.org/10.1016/j.engappai.2020.103541
Kurban T, Civicioglu P, Kurban R, Besdok E (2014) Comparison of evolutionary and swarm based computational techniques for multilevel color image thresholding. Appl Soft Comput 23:128–143
Kennedy J, Eberhart R (1995) Particle swarm optimization. Proceedings of ICNN’95—international conference on neural networks 4:1942–194. https://doi.org/10.1109/ICNN.1995.488968
Küçükuğurlu B, Gedikli E (2020) Symbiotic Organisms Search Algorithm for multilevel thresholding of images. Expert Syst Appl 147:113210. https://doi.org/10.1016/j.eswa.2020.113210
Kumar A, Wu G, Ali MZ, Mallipeddi R, Suganthan PN, Das S (2020) A test-suite of non-convex constrained optimization problems from the real-world and some baseline results. Swarm and Evolut Comput. https://doi.org/10.1016/j.swevo.2020.100693
Lewis BL, Kretschmer Jr FF, Shelton WW (1986) Aspects of radar signal processing. Norwood
Li S, Chen H, Wang M, Heidari AA, Mirjalili S (2020) Slime mould algorithm: A new method for stochastic optimization. Futur Gener Comput Syst 111(April):300–323. https://doi.org/10.1016/j.future.2020.03.055
Ling Y, Zhou Y, Luo Q (2017) Lévy flight trajectory-based whale optimization algorithm for global optimization. IEEE Access 5:6168–6186. https://doi.org/10.1109/ACCESS.2017.2695498
Lockett AJ (2020) No free lunch theorems. Natural Comput Ser 1(1):287–322. https://doi.org/10.1007/978-3-662-62007-6_12
Luo J, Shi B (2019) A hybrid whale optimization algorithm based on modified differential evolution for global optimization problems. Appl Intell 49(5):1982–2000. https://doi.org/10.1007/s10489-018-1362-4
Masi M (2005) A step beyond Tsallis and Rényi entropies. Physics Letters A, 338(3–5):217–224
Mirjalili S (2015) Moth-flame optimization algorithm: a novel nature-inspired heuristic paradigm. Knowl-Based Syst 89:228–249. https://doi.org/10.1016/j.knosys.2015.07.006
Mirjalili S (2016) SCA: a sine cosine algorithm for solving optimization problems. Knowl-Based Syst 96:120–133. https://doi.org/10.1016/j.knosys.2015.12.022
Mirjalili S, Lewis A (2016) The whale optimization algorithm. Adv Eng Softw 95:51–67. https://doi.org/10.1016/j.advengsoft.2016.01.008
Mostafa Bozorgi S, Yazdani S (2019) IWOA: an improved whale optimization algorithm for optimization problems. J Comput Des Eng 6(3):243–259. https://doi.org/10.1016/j.jcde.2019.02.002
Muangkote N, Sunat K, Chiewchanwattana S (2017) Rr-cr-IJADE: An efficient differential evolution algorithm for multilevel image thresholding. Expert Syst Appl 90:272–289. https://doi.org/10.1016/j.eswa.2017.08.029
Nama S, Saha AK (2020) A new parameter setting-based modified differential evolution for function optimization. Int J Model Simul Sci Comput. https://doi.org/10.1142/S1793962320500294
Nama S, Saha AK, Ghosh S (2017) Improved backtracking search algorithm for pseudo dynamic active earth pressure on retaining wall supporting c-Ф backfill. Appl Soft Comput J 52(January2018):885–897. https://doi.org/10.1016/j.asoc.2016.09.037
Ni Q, Deng J (2014) Analysis of population diversity of dynamic probabilistic particle swarm optimization algorithms. Math Probl Eng. https://doi.org/10.1155/2014/762015
Otsu N (1979) A threshold selection method from gray-level histograms. IEEE transactions on systems, man, and cybernetics, 9(1):62–66
Rényi A (1961) On measures of entropy and information. In Proceedings of the Fourth Berkeley Symposium on Mathematical Statistics and Probability, Volume 1: Contributions to the Theory of Statistics, 547–561. University of California Press
Salgotra R, Singh U (2017) Application of mutation operators to flower pollination algorithm. Expert Syst Appl 79:112–129. https://doi.org/10.1016/j.eswa.2017.02.035
Salgotra R, Singh U, Saha S, Gandomi AH (2021) Self adaptive cuckoo search: analysis and experimentation. Swarm Evol Comput 60:100751. https://doi.org/10.1016/j.swevo.2020.100751
Sharma S, Kumar A (2019) m-MBOA: a novel butterfly optimization algorithm enhanced with mutualism scheme. Soft Comput. https://doi.org/10.1007/s00500-019-04234-6
Sharma S, Kumar A (2020) MPBOA: A novel hybrid butterfly optimization algorithm with symbiosis organisms search for global optimization and image segmentation. Multimedia Tools Appl. https://doi.org/10.1007/s11042-020-10053-x
Sun W, Zhang C (2018) Analysis and forecasting of the carbon price using multi-resolution singular value decomposition and extreme learning machine optimized by adaptive whale optimization algorithm. Appl Energy. https://doi.org/10.1016/j.apenergy.2018.09.118
Sun Y, Wang X, Chen Y, Liu Z (2018) A modified whale optimization algorithm for large-scale global optimization problems. Expert Syst Appl 114:563–577. https://doi.org/10.1016/j.eswa.2018.08.027
Sun Y, Yang T, Liu Z (2019) A whale optimization algorithm based on quadratic interpolation for high-dimensional global optimization problems. Appl Soft Comput J. https://doi.org/10.1016/j.asoc.2019.105744
Tang C, Sun W, Wu W, Xue M (2019) A hybrid improved whale optimization Algorithm. 2019 IEEE 15th International Conference on Control and Automation (ICCA), Edinburgh, United Kingdom, 362–367. https://doi.org/10.1109/ICCA.2019.8900003
Tsallis C (2001) I. nonextensive statistical mechanics and thermodynamics: Historical background and present status. In Nonextensive statistical mechanics and its applications, 3–98
Tu J, Chen H, Liu J, Heidari AA, Zhang X, Wang M, Ruby R, Pham Q-V (2020) Evolutionary biogeography-based Whale optimization methods with communication structure: towards measuring the balance. Knowl-Based Syst. https://doi.org/10.1016/j.knosys.2020.106642
Upadhyay P, Chhabra JK (2020) Kapur’s entropy based optimal multilevel image segmentation using Crow search algorithm. Appl Soft Comput 97(XXXX):105522. https://doi.org/10.1016/j.asoc.2019.105522
Venkata Rao R (2016) Jaya: a simple and new optimization algorithm for solving constrained and unconstrained optimization problems. Int J Ind Eng Comput 7(1):19–34. https://doi.org/10.5267/j.ijiec.2015.8.004
Wolpert DH, Macready WG (1997) No free lunch theorems for optimization. IEEE Trans Evolut Comput 1(1):67–82. https://doi.org/10.1109/4235.585893
Wunnava A, Naik MK, Panda R, Jena B, Abraham A (2020) An adaptive Harris hawks optimization technique for two dimensional grey gradient based multilevel image thresholding. Appl Soft Comput J 95:106526. https://doi.org/10.1016/j.asoc.2020.106526
Yildiz AR (2019) A novel hybrid whale–Nelder–Mead algorithm for optimization of design and manufacturing problems. Int J Adv Manuf Technol 105(12):5091–5104. https://doi.org/10.1007/s00170-019-04532-1
Zhao S, Wang P, Heidari AA, Chen H, Turabieh H, Mafarja M, Li C (2021) Multilevel threshold image segmentation with diffusion association slime mould algorithm and Renyi's entropy for chronic obstructive pulmonary disease. Comput in Biol and Med 134:104427
Zhang J, Li H, Tang Z, Lu Q, Zheng X, Zhou J (2014) An improved quantum-inspired genetic algorithm for image multilevel thresholding segmentation. Math Probl Eng. https://doi.org/10.1155/2014/295402
Zhang J, Sanderson AC (2009) JADE: adaptive differential evolution with optional external archive. IEEE Trans Evol Comput 13(5):945–958. https://doi.org/10.1109/TEVC.2009.2014613
Zhang Q, Liu L (2019) Whale optimization algorithm based on lamarckian learning for global optimization problems. IEEE Access 7:36642–36666. https://doi.org/10.1109/ACCESS.2019.2905009
Zhongyu W, Yaru L, Yingqi T (2019) An efficient hybrid DE-WOA algorithm for numerical function optimization. IEEE Int Symp Ind Electron. https://doi.org/10.1109/ISIE.2019.8781121
Acknowledgements
The authors are extremely thankful to the editor and the reviewers for their valuable comments and suggestions, which helped improve the manuscript.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Appendix
Appendix
Function type | Function no | Function name | Range | Optimal value |
---|---|---|---|---|
Unimodal | 1 | Shifted and rotated bent Cigar function | [− 100, 100] | 100 |
2 | Shifted and rotated Zakharov function | [− 100, 100] | 200 | |
Simple multimodal | 3 | Shifted and rotated Rosenbrock’s Function | [− 100, 100] | 300 |
4 | Shifted and rotated Rastrigin’s function | [− 100, 100] | 400 | |
5 | Shifted and rotated expanded Scaffer’s F6 Function | [− 100, 100] | 500 | |
6 | Shifted and rotated Lunacek Bi_Rastrigin function | [− 100, 100] | 600 | |
7 | Shifted and rotated Non-Continuous Rastrigin’s function | [− 100, 100] | 700 | |
8 | Shifted and rotated Levy Function | [− 100, 100] | 800 | |
9 | Shifted and rotated Schwefel’s function | [− 100, 100] | 900 | |
Hybrid | 10 | Hybrid function 1 (N = 3) | [− 100, 100] | 1000 |
11 | Hybrid function 2 (N = 3) | [− 100, 100] | 1100 | |
12 | Hybrid function 3 (N = 3) | [− 100, 100] | 1200 | |
13 | Hybrid function 4 (N = 4) | [− 100, 100] | 1300 | |
14 | Hybrid function 5 (N = 4) | [− 100, 100] | 1400 | |
15 | Hybrid function 6 (N = 4) | [− 100, 100] | 1500 | |
16 | Hybrid function 7 (N = 5) | [− 100, 100] | 1600 | |
17 | Hybrid function 8 (N = 5) | [− 100, 100] | 1700 | |
18 | Hybrid function 9 (N = 5) | [− 100, 100] | 1800 | |
19 | Hybrid function 10 (N = 6) | [− 100, 100] | 1900 | |
Composite | 20 | Composite function 1 (N = 3) | [− 100, 100] | 2000 |
21 | Composite function 2 (N = 3) | [− 100, 100] | 2100 | |
22 | Composite function 3 (N = 4) | [− 100, 100] | 2200 | |
23 | Composite function 4 (N = 4) | [− 100, 100] | 2300 | |
24 | Composite function 5 (N = 5) | [− 100, 100] | 2400 | |
25 | Composite function 6 (N = 5) | [− 100, 100] | 2500 | |
26 | Composite function 7 (N = 6) | [− 100, 100] | 2600 | |
27 | Composite function 8 (N = 6) | [− 100, 100] | 2700 | |
28 | Composite function 9 (N = 6) | [− 100, 100] | 2800 | |
29 | Composite function 10 (N = 3) | [− 100, 100] | 2900 | |
30 | Composite function 11 (N = 3) | [− 100, 100] | 3000 |
Rights and permissions
About this article
Cite this article
Chakraborty, S., Sharma, S., Saha, A.K. et al. A novel improved whale optimization algorithm to solve numerical optimization and real-world applications. Artif Intell Rev 55, 4605–4716 (2022). https://doi.org/10.1007/s10462-021-10114-z
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10462-021-10114-z