Harmony Search Algorithm for Solving Sudoku

Zong Woo Geem

Johns Hopkins University, Environmental Planning and Management Program,
729 Fallsgrove Drive #6133, Rockville, Maryland 20850, USA
[email protected]

Abstract. Harmony search (HS) algorithm was applied to solving Sudoku puzzle. The HS is an evolutionary algorithm which mimics musicians behaviors
such as random play, memory-based play, and pitch-adjusted play when they
perform improvisation. Sudoku puzzles in this study were formulated as an optimization problem with number-uniqueness penalties. HS could successfully
solve the optimization problem after 285 function evaluations, taking 9 seconds.
Also, sensitivity analysis of HS parameters was performed to obtain a better
idea of algorithm parameter values.
Keywords: Sudoku puzzle, harmony search, combinatorial optimization.

1 Introduction
Sudoku, which is Japanese term meaning singular number, has gathered popularity
in Japan, the UK, and the USA. The Sudoku puzzle consists of 9 9 grid and 3 3
blocks for all the 81 cells. Each puzzle, which has a unique solution, has some cells
that have already been filled in. The objective of the puzzle is to fill in the remaining
cells with the numbers 1 through 9 so that the following three rules are satisfied:
Each horizontal row should contain the numbers 1 - 9, without repeating any.
Each vertical column should contain the numbers 1 - 9, without repeating any.
Each 3 3 block should contain the numbers 1 - 9, without repeating any.
In recent years researchers have started to apply various methods such as graph
theory [1], artificial intelligence [2], and genetic algorithm [3] to solve the Sudoku
puzzle. Eppstein [1] used the transformation from a directed or undirected graph to an
unlabeled digraph to solve the puzzle. Although it was successful to the undirected
case, the method is not successful to a directed one because the latter is NP-complete
[4]. Caine and Cohen [2] proposed an artificial intelligent model named MITS (Mixed
Initiative Tutoring System for Sudoku), in which the tutor takes the initiative to interact when the student lacks knowledge and makes moves that have low utility. Nicolau
and Ryan [3] developed a system named GAuGE (Genetic Algorithm using Grammatical Evolution) for Sudoku, which uses a position independent representation.
B. Apolloni et al. (Eds.): KES 2007/WIRN 2007, Part I, LNAI 4692, pp. 371378, 2007.
Springer-Verlag Berlin Heidelberg 2007

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Z.W. Geem

Each phenotype variable is encoded as a genotype string along with an associated

phenotype position to learn linear relationships between variables.
Recently, a musicians behavior-inspired evolutionary algorithm, harmony search
(HS), has been developed [5] and applied to various optimization problems such as
structural design [6], water network design [7], dam scheduling [8], traffic routing [9],
satellite heat pipe design [10], oceanic structure mooring [11], hydrologic parameter
calibration [12], and music composition [13].
From its success in various applications, HS in this study tackles the board game
Sudoku, which can be formulated as an optimization problem with minimal violations
of the above-mentioned three rules.

2 Harmony Search Model

The objective of the Sudoku problem is to fill in the cells with the numbers 1 through
9 only once while satisfying the above-mentioned three rules. In other words, the
problem can be formulated as an optimization problem as follows:
9

Minimize Z =

xij 45 + xij 45 + xlm 45

i =1 j =1

j =1 i =1

(1)

k =1 ( l ,m )Bk

where xij = cell at row i and column j , which has integer value from 1 to 9; and

Bk = set of coordinates for block k .

The first term in Equation 1 represents the penalty function for each horizontal
row; the second term for each vertical column; and the third term for each block. It
should be noted that, although the sum of each row, each column, or each block
equals 45, it does not guarantee that the numbers 1 through 9 are used exactly once.
However, any violation of the uniqueness affects other row, column, or block which
contains the wrong value jointly.
To this penalty-included optimization problem, HS was applied, which originally
came from the behavioral phenomenon of musicians when they together perform
improvisation [5]. HS basically mimics musicians behaviors such as memory consideration, pitch adjustment, and random consideration, but it also includes problemspecific features for some applications.
For the first step of the HS algorithm, solution vectors are randomly generated as
many as HMS (harmony memory size), then they are stored in HM (harmony memory) as follows:
1
x11
1
x21

1
x91

1
x12
x122

x192

1
x19

x129
Z (x1 )

x199

(2a)

Harmony Search Algorithm for Solving Sudoku

2
x11
2
x21

2
x91

2
x12
2
x22
2
x92

373

2
x19
2
x29
Z (x 2 )

2
x99

(2b)

HMS
x19
HMS
x29
Z (x HMS )

HMS
x99

(2c)

...
HMS
x11
HMS
x21

HMS
x91

HMS
x12
HMS
x22
HMS
x92

where xijn = cell at row i and column j in nth vector stored in HM; and Z (x n ) =

function value for nth vector in HM.

For the next step, a new harmony in Equation 3 is improvised using one of the following three mechanisms: random selection, memory consideration, and pitch adjustment.

x NEW

NEW
x11
NEW
x
= 21

NEW
x91

NEW
x12
NEW
x22
NEW
x92

NEW
x19
NEW
x29

NEW
x99

(3)

Random Selection. For xijNEW , random value is chosen out of value range
( 1 xijNEW 9 ) with a probability of (1-HMCR). HMCR (0 HMCR 1) stands for
harmony memory considering rate.
x ijNEW x ij ,

xij {1, 2, , 9} w.p. (1 - HMCR)

(4)

Memory Consideration. Instead of the random selection, the value can be chosen
from any values stored in HM with a probability of HMCR.
x ijNEW x ij , x ij {xij1 , x ij2 , ..., x ijHMS } w.p. HMCR

(5)

Pitch Adjustment. Once one pitch is obtained in memory consideration rather

than random selection, the obtained value may further move to neighboring values
with a probability of HMCR PAR while the original value obtained in memory
consideration does not move with a probability of HMCR (1-PAR). PAR (0 PAR
1) stands for pitch adjusting rate. Here, xijNEW in the right hand side is the value

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Z.W. Geem

originally obtained in memory consideration; and is the amount of increment (

equals one if xijNEW is not upper limit (9) or lower limit (1). Otherwise, equals
zero).

xijNEW

xijNEW + w.p. HMCR PAR 0.5

xijNEW w.p. HMCR PAR 0.5

x NEW
w.p. HMCR (1 PAR)
ij

(6)

If the new harmony vector x NEW is better than the worst harmony in the HM in
terms of objective function value, Z (x NEW ) , the new harmony is included in the HM
and the existing worst harmony is excluded from the HM.
If the HS model reaches MaxImp (maximum number of improvisations), computation is terminated. Otherwise, another new harmony is improvised by considering one
of three mechanisms.

3 Applications
The HS model was applied to the Sudoku puzzle proposed by Nicolau and Ryan [3]
as shown in Figure 1.

Fig. 1. Example of Sudoku Puzzle

The HS model found the optimal solution without any violation after 285 function
evaluations using HMS = 50, HMCR = 0.7, and PAR = 0.1. Figure 2 shows the history of reaching global optimum.

Harmony Search Algorithm for Solving Sudoku

(a)

(b)

(c)

(d)

375

Fig. 2. Intermediate and Final Solutions of Test Sudoku Puzzle

While the green-colored cell (light-dark color in black & white) in Figure 2 means
that there is no violation, the magenta-colored cell (dark color in black & white) indicates that there is at least one violation horizontally, vertically, or block-wise. Figure
2 (a) is the solution at 13 improvisations, which has a penalty of 21; Figure 2 (b) is the
solution at 121 improvisations, which has a penalty of 5; Figure 2 (c) is the solution at
231 improvisations, which has a penalty of 2; and Figure 2 (d) is the solution at 285
improvisations, which has a penalty of 0.
This HS model further performed sensitivity analysis of algorithm parameters
(HMS = {1, 2, 10, 50}, HMCR = {0.5, 0.7, 0.9}, PAR = {0.01, 0.1, 0.5}). Table 1
shows the analysis results. When only one vector is considered in the HM (HMS = 1),
like simulated annealing or tabu search algorithm, the HS found global optimum except in one case (HMCR = 0.9, PAR = 0.1, Z = 6); When two vectors are considered
in the HM (HMS = 2), partially similar to genetic algorithm, the HS also found global
optimum except in two cases (HMCR = 0.7, PAR = 0.01, Z = 15; HMCR = 0.7, PAR
= 0.1, Z = 27). However, when more than two vectors were considered in the HM
(HMS = 10 or 50), there was no rule violation for the Sudoku example.
The HS computation was performed on Intel Celeron 1.8GHz CPU. The computing time ranged 4 - 38 seconds for HMS = 1 in order to arrive at the global optimum;
for HMS = 2, it ranged 3 - 20 seconds; for HMS = 10, it ranged 3 - 8 seconds; and for
HMS = 50, it ranged 7 - 12 seconds.
The HS model developed in this study was further applied to another Sudoku problem classified as hard as shown in Figure 3 [14]. When applied to the problem, the
HS model was entrapped in one of local optima with a penalty of 14 after 1,064 function evaluations as shown in Figure 4.

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Z.W. Geem
Table 1. Results of Sensitivity Analysis with HS Parameters

HMS

HMCR
0.5

0.7

0.9

0.5

0.7

0.9

0.5

10

0.7

0.9

0.5

50

0.7

0.9

PAR
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5
0.01
0.1
0.5

Iterations (Z)
66
337
422
287
3,413
56
260
10,000 (6)
1,003
31
94
175
102
77
99
10,000 (15)
10,000 (27)
1,325
49
280
188
56
146
259
180
217
350
147
372
649
165
285
453
87
329
352

Time (sec)
5
10
11
13
38
4
13
112
19
3
6
6
6
6
7
98
135
20
3
8
5
4
5
8
5
8
8
9
10
12
7
9
12
7
10
11

Harmony Search Algorithm for Solving Sudoku

377

Fig. 3. Another Sudoku Example (Hard Level)

Fig. 4. Local Optimum for Hard Example

4 Conclusion
The HS, musicians behavior-inspired evolutionary algorithm, challenged the Sudoku
puzzle with 40 given values in the literature, and could successfully find the unique
global solution. The total searching space for this case is 941 = 1.33 1039 if integer
programming formulation is considered. The proposed HS model found the global
optimum without any row, column or block violation after 285 function evaluations,
taking 9 seconds on Intel Celeron 1.8 GHz Processor.
When sensitivity analysis of algorithm parameters was performed, the HS could
reach the global optimum 33 times out of 36 runs, taking 3 - 38 seconds (median for
33 successful cases is 8 seconds).

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Z.W. Geem

However, it failed to find the global optimum for hard level case with 26 given values, which has the searching space of 955 = 3.04 1052. The HS model was instead
entrapped in one of local optima with the penalty of 14 after 1,064 function evaluations.
For study in the future, the HS model should consider additional problem-specific
heuristics in order to efficiently solve a harder puzzle.

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