A hybrid method based on genetic algorithm and ant colony system for traffic routing optimization
VNU Journal of Science: Comp. Science & Com. Eng, Vol. 36, No. 1 (2020) 1-10
Original Article
A Hybrid Method Based on Genetic Algorithm
and Ant Colony System for Traffic Routing Optimization
Thi-Hau Nguyen1, Trung-Tuan Do2, Duc-Nhan Nguyen3,
Dang-Nhac Lu4,*, Ha-Nam Nguyen5
1VNU University of Engineering and Technology, Vietnam National University, Hanoi,
144 Xuan Thuy, Cau Giay, Hanoi, Vietnam
2VNU University of Science, Vietnam National University, Hanoi,
334 Nguyen Trai, Thanh Xuan, Hanoi, Vietnam
3Posts and Telecommunications Institute of Technology, Tran Phu, Ha Dong, Hanoi, Vietnam
4Academy of Journalism and Communication, 36 Xuan Thuy, Cau Giay, Hanoi, Vietnam
5VNU Information Technology Institute, Vietnam National University, Hanoi,
144 Xuan Thuy, Cau Giay, Hanoi, Vietnam
Received 18 April 2019
Revised 06 July 2019; Accepted 06 July 2019
Abstract: This paper presents a hybrid method that combines the genetic algorithm (GA) and the
ant colony system algorithm (ACS), namely GACS, to solve the traffic routing problem. In the
proposed framework, we use the genetic algorithm to optimize the ACS parameters in order to
attain the best trips and travelling time through several novel functions to help ants to update the
global and local pheromones. The GACS framework is implemented using the VANETsim
package and the real city maps from the open street map project. The experimental results show
that our framework achieves a considerably higher performance than A-Star and the classical ACS
algorithms in terms of the length of the global best path and the time for trips. Moreover, the
GACS framework is also efficient in solving the congestion problem by online monitoring the
conditions of traffic light systems.
Keywords: Traffic routing; Ant colony system; Genetic algorithm; VANET simulator.
1. Introduction *
economy and population. In fact, the traffic
routing optimization problem is an important
issue all over the world. There are various
approaches to deal with this issue that depend
on the complexity of problems and the
related parameters.
A well-known approach for solving above
problem is the ant colony optimization
algorithm (ACO). There are some variants of
Recently, traffic congestion has become one
of the most serious problems in developing
countries due to the rapid growth of their
_______
* Corresponding author.
E-mail address: [email protected]n
1
T-H. Nguyen et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 36, No. 1 (2020) 1-10
2
performance. But it does not show the obvious
relationship between the number of ants and the
tricks for setting the number of ants. Actually,
we all knew that there are some unknown
relationships among parameters. However,
there are no manifest references to find those
parameters effectively.
on the optimal path problem with traffic
congestion parameters. In order to improve the
performance in finding the optimal path, ACS
uses new mechanisms based on three main
innovations including paths construction, global
pheromone trail update and local pheromone
on finding the optimal parameters for ACS to
achieve the better results with reasonable
efforts. However, finding the suitable
parameters for an algorithm is a nontrivial task
in practice.
Hence, an approach to automatically
determine the optimal combination of the ACS
parameters is desirable for a given traffic
routing problem. It is more significant in the
practical application of the ACS algorithm for
developing an intelligent transportation system
where the finding the optimal path required
many input information such as road
conditions, vehicle type, traffic conditions and
so on. Such information can be collected from
various sources consisting of public or private
organizations. For the path-finding problem
based on information from drivers, each driver
plays a role of an ant in the ant colony. The
driver can find the best path to the destination
based on the ACS algorithm. However, the
expected result strongly depends on the setting
of the parameter values. Therefore, the
parameter adaptation plays an important role in
obtaining the best solution of traffic routing
optimization problem.
In this paper, we propose a hybrid
algorithm based on GA and ACS (namely
GACS) for traffic routing optimization. GA is
used to optimize the parameters of ACS with
novel functions for updating pheromone to
acquire not only the best trip but also the
shortest travelling time. Moreover, we also
consider solving finding the best route problem
by the GACS algorithm under the congestion
and the automatically condition changes of the
traffic light system. We simulated and
visualized the GACS framework on a real map,
which could change the conditions online. The
experimental results of our proposed method are
compared with others such as A-Star, the classical
ACS. It has been shown that our method is able to
achieve a higher and more effective performance
than others in the same conditions.
The adapting approaches for setting
parameters could be divided into offline and
online procedures. The offline methods find
appropriate parameter values before their
deployments, while online methods optimize
those on the way. Stutzle et al. [7] reviewed a
number of studies on their adaptation strategy
to set up parameters in ACO variants. It has
been shown that the online methods with small
ant numbers and fixed parameter setting often
lead to a better performance. However, this is
not realistic because the parameter values might
change when applying the algorithm into
local updating rule for ACS which obtained a
better performance than the other heuristic
algorithms. They demonstrated the importance
of the ACS parameters, for instance the optimal
number of ants. However, the parameter values
in this study were manually chosen. Zhaoquan
Cai and Huang [8] proposed an adaptive weight
ACS parameters in which they built the novel
computation method for parameters estimation
including pheromone evaporation rate and
heuristic information using the probability
function. In another study, Liu et al. [9]
combined genetic algorithm (GA) with ACS in
which they used GA to optimize three
parameters in transferring rule of path
construction, while other parameters were
Genetically Modified Ant Colony System
(GMACS), which also combines GA and ACS
by a fitness function to gain the better
T-H. Nguyen et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 36, No. 1 (2020) 1-10
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The rest of the paper is organized as
follows: Section 2 gives a description of the
proposed hybrid algorithm for traffic routing.
Section 3 presents the simulation experiments
and results. Finally, some conclusions are given
in section 4.
generation. The worst ants’ parameters will be
replaced by the produced ants’ parameters.
2.2. The ant colony system (ACS)
The ACS is a variant of ant system with an
improved efficiency in finding the best path
three main processes as follows:
a. Path construction of Ant colony system:
An ant k in node i chooses the next node j with
2. A hybrid framework for traffic routing
2.1. The genetic algorithm
a
probability defined by the random
proportional rule as follows:
Genetic algorithm (GA) is a search and
optimization method based on the principles of
The basic principle of genetic algorithm follows
Step 1 (Initialization) the initial candidate
solutions (chromosomes) is randomly generated
across the search space.
Step 2 (Evaluation) once the population is
initialized or an offspring population is created,
the fitness values of the candidate solutions
are evaluated.
Step 3 (Selection) the selection step
allocates more copies of those solutions with
higher fitness values and thus imposes the
survival-of-the-fittest mechanism on the
candidate solutions.
Step 4 (Recombination) the recombination
step combines parts of two or more parental
solutions to create better new possible solutions.
Step 5 (Mutation) while the recombination
operates on two or more parental chromosomes,
the mutation randomly modifies a local solution.
Again, there are many variations of mutation, but
it usually involves one or more changes to be
made to an individual's trait or traits.
Step 6 (Replacement) the offspring population
created by selection, recombination, and mutation
replaces the original parental population.
Step 7: Repeat steps 2-6 until a terminating
condition is met.
. ij
ij
t
pikj t
,
if j Nik
(1)
k il t .
il
lNi
Nik
where
is its feasible neighborhood, ij =
1/dij is a priori available heuristic value and dij
is the distance between point i and point j, ij(t)
is the pheromone trail on the arc (i, j). The
parameters α, β determine the relative influence
of the pheromone trail and the heuristic
information. In ACS, the random proportional
rule with probability q0 [0, 1] for the chosen
next point visiting is defined as:
argmax
[
]
,
if q q0;
il
il
l Nik
(2)
j
J,
otherwise;
where J is a random variable selected according
to the probability distribution given by Eq. (1).
b. Global pheromone trail update: In ACS,
after each iteration, the global-best path of this
iteration is determined, and the arcs belonging
to this path receive extra pheromone, so only
the global-best path allows ants to add
pheromone after each iteration by the global
updating rule as follows:
t 1 1 t gb
t
(3)
ij
ij
ij
for (i, j) global-best path
gb
where
gb , and Lgb is the length of
ij t 1 L
By building a suitable fitness function, GA
can be applied to look for optimal parameters of
ACS algorithm. The ants with the best fitness
are selected to produce offspring of the next
the global-best path. It is important to note that
the pheromone trail update rule is only applied
to the arcs of the global-best path, not to all the
T-H. Nguyen et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 36, No. 1 (2020) 1-10
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0j
;
ij (1).ij .
arcs like in AS. The parameter , 01,
represents for the pheromone evaporation rate.
c. Local pheromone trail update: In
addition to the global update rule, the ants use a
local update rule that is immediately applied
after visiting an arc during the path construction
in ACS. The local update rule is defined by the
function below:
(5)
0j n.Lnn 1 d 1 r 1 v
ij (6)
ij
ij
where dij represents the road density on arc
from node i to node j and it is computed as dij =
aij/wij with aij is the vehicle number on arc from
node i to node j and wij is the width of road
from node i to node j; vij is the average velocity
of vehicles on arc from node i to node j; rij
represents the traffic capacity to solve
congestion time and it is defined by rij = aij/tj
with tj is the total delay time of traffic light
signal at node j. The pheromone deposited by
ants is increased on the visited arcs where the
dij, rij values are lower and the vij value is
ij (1).ij .0
(4)
where the pheromone decay coefficient (
[0, 1]), and 0 are two parameters of ACS
algorithm. The value of 0 is set to be the same
as the initial value of the pheromone trails and
could be set as 1(n.Lnn), where n is the number
of arcs, Lnn is the length of global path. So that,
when one ant uses an arc (i, j) each time, its
higher. Thus vehicles can perceive the traffic
status on arc and the next node from dij, vij, rij.
In the global updating rule, our proposed
function to improve our traffic routing results is
defined as:
ij
pheromone trail
is reduced, so that the arc
becomes less desirable for the following ants.
Thus, there are many parameters which
affect the performance of the ACS in finding
the best path. As above mentioned, adapting the
set of parameters (m, , , q0, ) can improve
the performance of the ACS.
N 1
N 1
1
1
Lgb
(7)
igjb (t)
V gl
d
1
r
jh
jh
j1
j1
with h = j + 1, N is the total nodes on global
best path and , are weighting factors, and
Vgb is the average velocity on the global - best -
path. The hidden information such as the
length, velocity, density and traffic light status
is significant to updating pheromone for the
global best path that aims to improve the traffic
routing system. Together with the parameters
2.3. The hybrid method based on genetic
algorithm and ant colony system (GACS)
In traffic routing problem, heuristic
information of transportation environment is
highly significant to help ants not only to find
the the best path but also to save time and to
realize potential congestion roads. Therefore,
we develop a hybrid method based on GA and
ACS to solve the traffic routing problem that is
called GACS algorithm.
Firstly, we define a number of novel
functions to update global and local
pheromones in ACS. The functions in the
global and local pheromone trial update
processes that we propose will consider some
information including the length of path, the
average velocity, the delay time of traffic light,
the number of commuters at one time which
denotes the road density or congestion
information. The local pheromone updating
function is defined by the function below
in Path Construction that directly affect
, ,q0
to the next node selection of the ant, the
parameters , , are very important to finding
the best path by ACS. Therefore, it is necessary
to set these parameters appropriately.
Secondly, we combine GA with ACS to
optimize the set of parameters (m, , , q0, ,
, ) representing for chromosome. The GA is
applied to choose the best values for
chromosome through fitness evaluation of
every chromosome. The fitness function of
chromosome c is computed by
1
f (c) igjb (t)
(8)
tc
T-H. Nguyen et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 36, No. 1 (2020) 1-10
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Then, Eq. (7) is substituted into the fitness
function of chromosome c, we get:
flowchart, all steps of GA involve from the start
until the termination condition met as a part of
ACS to find the best set of parameters that is
used to calculate the updating functions in
ACS. The parameters of ACS are randomly
initialized in a given range. Furthermore, the
developed traffic routing framework based on
the GACS algorithm enables to change online
the condition of traffic light system, which is
very important in traffic routing. In fact, the
traffic light system is a useful factor on
controlling traffic system that is really
interesting in the development of intelligent
condition of traffic light such as adding a light
or changing delay time light in our GACS
framework can be considered as an online
tuning method. After the conditions are
changed, the GACS framework updates new
status by updating pheromone functions defined
in Eqs. (5-7). The online parameters adaptation
in the GACS framework results in an improved
performance of the traffic routing optimization.
N 1
N1
1
Lgb
1
f (c)
V gb
(d )1
(r )1
(9)
jh
jh
tc
j1
j1
where tc is the total time on global best path.
After each chromosome ck is generated by the
GA, the ACS is implemented to evaluate the
corresponding fitness function f(ck). The best
set of parameters that corresponds to the best -
path can be determined by cbest = max(f(ck)),
k = 1,…, N. The fitness function acquires a
higher value when the quality of the
chromosome is better than the others.
3. Experiments and results
3.1. Simulation of traffic routing with VANET
simulator
The VANET simulators were developed to
simulate Vehicular Ad-hoc Networks (VANET)
microscopic or macroscopic in terms of
mobility model. In our simulation, the
microscopic traffic simulator is used that
emphasizes local behavior of individual
vehicles by representing the velocity and the
position of each vehicle at a given moment
[18]. The VANET simulator has two main
components including a network component
and a vehicular traffic component. The network
component is responsible for simulating the
behavior of a wireless network, while the
vehicular traffic component provides an
accurate mobility model for the nodes. Mobility
models represent the velocity and the position
of each vehicle at a given moment. This type of
Figure 1. The flowchart of the GACS algorithm.
About the termination condition of genetic
algorithm, we suppose the number of iterations of
genetic algorithm is NL, then NLmin NL NLmax
with NLmin is the minimum iteration times of
genetic algorithm and NLmax is the maximum
iteration times of genetic algorithm. The flowchart
of the proposed GACS algorithm showing a
hybridization of GA and ACS in traffic routing
optimization is shown in Figure 1. In this
T-H. Nguyen et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 36, No. 1 (2020) 1-10
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simulation is especially helpful to traffic
routing problem.
appropriate set of parameter values and their
range of values are initially selected in our
experiments. With chromosome (m, , , q0, ,
, ) of GACS algorithm via experiments it
was shown that the appropriate range for , ,
q0 is from 0 to 1, and is between 1 and 5, and
, is between 1 and 10. At last, the initial ant
number of system m is between 1 and 500. The
fitness function is computed by Eq. (9) and the
stopping criteria are NLmin = 10 and NLmax = 55.
The simulation experiments run on
Windows 7 OS, Intel Core i7-6700 (3.4 Ghz,
8M Cache) processor, 16GB DDR3L RAM.
Our simulation framework is developed using
Open JDK Java 8 environment and VANETsim
version 1.3. The types of vehicles include
motorbike, bicycle, car and bus, with total
number of them between 10 and 100. The
performance of the system is evaluated by
criteria such as the total length of vehicle from
starting point to destination, the time for this
trip and the time that is used for algorithm
processing. The results obtained from our
framework are then compared to A-Star and
ACS algorithms.
The microscopic VANET simulator in
traffic routing problem considers vehicles as
distinct entities that could communicate and
share information on traffic density, speed,
moving direction of vehicles, road and traffic
light. The simulation on VANET with GACS
framework we develop includes four modules
as shown in Figure 2.
MAP module processes the map problem to
get and transform map from an open street map
project, load and visualize agent activity. It also
establishes online changing traffic conditions
such as traffic light, road and traveling
environment attributes.
3.3. Results and analysis
In the first scenario, we evaluated on the city
map of Berlin, Germany, in which the data is
loaded from open street map, then it randomized
the starting point A with coordinate as x = 582858
and y = 353950 on Holzmarktstrasse road and
destination B on Littenstrasse with coordinate as
x = 550418, y = 320967. The GACS framework
selected the trip to travel from A to B as shown in
Figure 3(a). When the vehicles meet congestion at
the intersections between StralauerStrasse and
Littenstrasse, they reroute the path with updated
information. The new routing will be changed to
the Direksenstrasse road to complete their trip.
Experimental results are evaluated in terms of
three values including Length (the length of the
global best path), Time (the time of best path),
Processed Time (the processing time of
the system).
Figure 2. VANET simulation system with
routing algorithms.
AGENT module constructs agents from types
of traffic vehicles with attributes on system,
controlling agent behaviors and traffic conditions.
GUI module processes visualization graphic
information and provides interaction ability
between user and the system.
ROUTING
module
processes
the
algorithms and returns the results to the system.
In this module, beside the proposed GACS
algorithm, the A-Star and ACS algorithms are
also used for performance comparison.
3.2. Experimental parameters
19, 20] which obtained remarkable results, the
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7
405 meters. The time for global best path of the
GACS is smaller than that of A-Star and ACS
6.76 seconds and 4.58 seconds respectively.
The performance of the GACS is improved
because the environment information is
integrated into nodes and ants could perceive
the suitable node on their path. Although the
processing time of the GACS algorithm is
longer due to the repetition in calculation of the
GA in ACS, it is still acceptable in practice.
Table 1. Simulation results on berlin map
Processed
Time
(milliseconds)
Length
(meter) (seconds)
Time
Algorithm
A-Star
ACS
1060
950
58.56
56.38
51.80
25
45
GACS
545
156
In second scenario, the framework is
evaluated by the same method on city map of
Hanoi, Vietnam with the starting point A in
Tran Thai Tong street at coordinate as x =
12971115, y = 10755648 and destination point
B in Tho Thap street at coordinate as x =
12991416, y = 10810560 as shown in Figure
3(b). The obtained results in this scenario are
shown in Table 2. Similar to the first scenario,
the GACS algorithm also outperforms the other
algorithms in terms of Length and Time.
However, Time value in this scenario is slightly
longer than that in the first scenario that is
because the traffic conditions of Berlin map are
better than that of Hanoi map.
Table 2. Simulation results on Hanoi map
Figure 3. Simulation GACCS framework on (a)
Berlin Map, (b) Hanoi Map.
Processed
Time
Length
(meter) (seconds)
Time
Algorithm
The obtained results in this scenario are
shown in Table 1 and they show that the
proposed GACS algorithm outperforms the
other algorithms in terms of Length and Time.
In particular, Length of the GACS algorithm is
shorter than that of A-Star 515 meters and ACS
(milliseconds)
A-Star
ACS
1150
802
64.12
60.88
58
18
31
GACS
601
162
y
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Figure 5. Simulation on various
transportation conditions.
Therefore, the framework is applied in the
fourth scenario to simulate a situation of
transportation system in congestion condition.
In this scenario, the number of vehicles is
increasing from 0 to 1500 vehicles which
consist of cars, motorbikes and bicycles in
order to see when congestion happens due to
increase in the road density overtime. The
various types of vehicles travelling at different
speeds are visualized by different colored dots
on the map. These vehicles are randomly
distributed on the Nguyen Chi Thanh road, on
Hanoi map, travelling between the coordinate
Figure 4. Online monitoring traffic light.
of the point A (x = 21.030053, y = 105.812800)
and the coordinate of the point B (x =
21.014934, y = 105.804353) as shown in Figure
5. This road is chosen in this simulation
because it is where the traffic jams often occur
at rush hours. Efficiency of the GACS
framework in solving congestion problem is
estimated in various transportation situations:
normal, light traffic jam and heavy traffic jam
which correspond to the situations that vehicles
can go with the speed being less than or equal
the maximum, half, and 10% of the speed
limitation respectively. The obtained results are
shown in Table 3. The normal transportation
situation is specified when the vehicles are
travelling without any collision, while the light
congestion is specified when collisions occur at
intersections (nodes). The heavy congestion is
In the third scenario, the framework is
deployed in online setting of traffic light
condition as shown in Figure 4. Figure 4(a)
shows the ability to update traffic light system
on Caugiay district in Hanoi Map. The traffic
light is added and the delay time of traffic light
is changed. Then the GACS system updated
and processed online information. By adding a
given delay time of traffic light, the fitness
value of chromosome changes correspondingly
in finding the optimal parameters based on GA.
Subsequently, the pheromone updating of ants
on the arcs is also changed to find the best path
based on ACS. The ants consequently choose a
newly suitable path. It is really significant to
apply our framework in practical cases, which
need to change traffic conditions to solve
congestion problem.
T-H. Nguyen et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 36, No. 1 (2020) 1-10
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specified when the vehicles start to be
unmovable due to collisions.
optimize parameter settings of ACS. We have
demonstrated via simulation experiments that
the hybrid GACS algorithm outperforms
compared to A-star and ACS algorithms.
However, it took longer processing time than
those algorithms. Moreover, the GACS
framework can provide the ability for online
monitoring the condition of traffic lights. In the
future, we are planning to further improve the
current framework in order to dynamically
change the traffic lights and reduce the
processing time.
Table 3. Simulation results on transportation conditions
Light
Heavy
Algorithm/ Normal
congestion congestion
(minute)
Status
(minute)
(minute)
From 0
to 16
minutes
30
seconds
From 0
to 30
minutes
From 0
to 36
From 17
minutes to
24
To 25
minutes
A-Star
minutes
From 35
to 40
minutes
From 47
to 58
To 45
minutes
ACS
Acknowledgements
To 60
minutes
GACS
This research was funded by Vietnam
National University, Hanoi (VNU) under the
project no. QG 17.39.
minutes
minutes
Thus, the efficiency of the path finding
algorithm is proportional to the duration to
maintain the normal status or the transition
duration between statuses. The results in Table
3 show that the proposed GACS algorithm can
extend the normal status that is 6 minutes and
19.5 minutes longer than that of ACS and A-
Star algorithms respectively. The time period
from the light traffic jam status to the heavy
traffic jam status is also extended for the GACS
algorithm. In particular, it is 15 minutes and 35
minutes longer than the ACS and A-Star
algorithms respectively. This extension is
resulted by dynamic adjustment of information
updating in the GACS framework that is useful
in traffic routing optimization. This simulation
allows the managers and planners to evaluate
the transportation system based on the data
collected from personal devices to reduce the
traffic congestion through changing transport
conditions such as adding the traffic lights and
adjusting the delay time of traffic light.
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