Page 174 - Read Online
P. 174

Li et al. Intell Robot 2024;4(3):230-43  I http://dx.doi.org/10.20517/ir.2024.15    Page 234



                                                  Key1    Key2    Key3     Key4
                                           Query  F(Q,K)  F(Q,K)  F(Q,K)   F(Q,K)  Phase I

                                                   s1      s2      s3      s4
                                                        Class SoftMax() normalization  Phase II
                                                   a1      a2      a3      a4
                                          Attention  *     *   +   *   +    *  Phase III
                                           Value       +

                                                  Value1  Value2  Value3   Value4


                                                 Figure 3. Attention calculation flow.


               2.2.3 Whale optimization algorithm
               Whale optimization algorithm (WOA) is a group intelligence optimization algorithm proposed by Mirjalili
               and Lewis in 2016, which originates from the simulation of the hunting behavior of whale groups in nature.
               The whole algorithm process includes three stages: encircling prey, bubble netting and searching for prey [14] .


               (a) Surround the prey
               Assuming that in k-dimensional space, there is already a whale that finds the best position to surround its
               prey [15] , other whales will choose this position to approach, and the mathematical model equation is estab-
               lished as follows:
                                                          +1  =    best  −    ·                         (8)
                                                             
                                                                     
                                                          =    ·        −                               (9)

               where             denotes the current optimal individual whale position;       denotes represents the current individ-
               ual whale position [16] ; The position that the whale individual affected by the position of the optimal whale
                                                                   is the kth component of      +1.
               individual will reach in the next moment is set to be      +1.         +1
                                                                               
                                           = 2   1 ,     =    · (2 ·    2 − 1)   = 2 · (1 −  )         (10)
                                                                               max
               where    1 and    2 are random variables in the interval [0, 1]; the value of a decreases linearly from 2 to 0 as the
               number of iterations    increases; and    max denotes the maximum number of iterations.

               (b) Bubble net predation
               Whales have two ways to contract the envelope and swim spirally toward their prey when they drive the encir-
               cling prey. The spiral wanders toward the prey using the spiral to update the position to represent this roundup
               behavior. The mathematical model equation is established as follows:

                                                  +1                            
                                                               
                                                      =       ·    ·       (2    ) +                   (11)

                                                                     
                                                            =                                          (12)
                                                                    
                                                                −   
               where       denotes the optimal whale-to-prey spacing;    represents the logarithmic spiral shape constant; and   
               indicatesarandomnumberuniformlydistributedintheinterval[-1, 1]. Thecontractionsurroundmechanism,
               which is basically the same as the formula of the mathematical model to surround the prey [17] , differs in that
               the value interval of    is adjusted from [-a, a] to [-1, 1]. Then, one of these two methods is chosen with a 50%
   169   170   171   172   173   174   175   176   177   178   179