Dynamic selection of evolved neural controllers for higher behaviors of mobile robot

Kyung Joong Kim, Sung Bae Cho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

There has been extensive research of developing the controller for a mobile robot Especially, several researchers have constructed the mobile robot controller that can avoid obstacles, evade predators, or catch moving prey by evolutionary algorithms such as genetic algorithm and genetic programming. In this line of research, we have also developed a method of applying CAM-Brain, evolved neural networks based on cellular automata (CA), to control a mobile robot. However, the direct evolution has a difficulty that the controller cannot generalize well to new environments. We attempt to solve it by incremental evolution, which starts with simpler environments and gradually develops the controller with more general and complex environments. We combine several behaviors evolved or programmed by dynamic selection mechanism for higher behaviors. In this paper, we evaluate the performance of robot using Khepera simulator. Simulation results show the possibility of easily developing higher behaviors by integrating CAM-Brain behavior modules.

Original languageEnglish
Title of host publicationProceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationIntegrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
EditorsHong Zhang, Peter Xiaoping Liu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages467-472
Number of pages6
ISBN (Electronic)0780372034
DOIs
Publication statusPublished - 2001 Jan 1
EventIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada
Duration: 2001 Jul 292001 Aug 1

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume2001-January

Other

OtherIEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
CountryCanada
CityBanff
Period01/7/2901/8/1

All Science Journal Classification (ASJC) codes

  • Computational Mathematics

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  • Cite this

    Kim, K. J., & Cho, S. B. (2001). Dynamic selection of evolved neural controllers for higher behaviors of mobile robot. In H. Zhang, & P. X. Liu (Eds.), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001 (pp. 467-472). [1013246] (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2001.1013246