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.
|Title of host publication||Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation|
|Subtitle of host publication||Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001|
|Editors||Hong Zhang, Peter Xiaoping Liu|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Publication status||Published - 2001|
|Event||IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 - Banff, Canada|
Duration: 2001 Jul 29 → 2001 Aug 1
|Name||Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA|
|Other||IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001|
|Period||01/7/29 → 01/8/1|
Bibliographical notePublisher Copyright:
© 2001 IEEE.
All Science Journal Classification (ASJC) codes
- Computational Mathematics