EVOLVING ROBUST ROBOT CONTROLLERS FOR CORRIDOR FOLLOWING USING GENETIC PROGRAMMING

Bart Wyns, Bert Bonte, Luc Boullart

2010

Abstract

Designing robots and robot controllers is a highly complex and often expensive task. However, genetic programming provides an automated design strategy to evolve complex controllers based on evolution in nature. We show that, even with limited computational resources, genetic programming is able to evolve efficient robot controllers for corridor following in a simulation environment. Therefore, a mixed and gradual form of layered learning is used, resulting in very robust and efficient controllers. Furthermore, the controller is successfully applied to real environments as well.

References

  1. Bräunl, T. (2006). Embedded Robotics: Mobile Robot Design and Applications With Embedded Systems. Springer-Verlag, 2nd edition edition.
  2. Dupuis, J. and Parizeau, M. (2006). Evolving a VisionBased Line-Following Robot Controller. In Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision, page 75. IEEE Computer Society Washington, DC, USA.
  3. Gustafson, S. and Hsu, W. (2001). Layered Learning in Genetic Programming for a Cooperative Robot Soccer Problem. Lecture Notes in Computer Science, 2038:291-301.
  4. Jakobi, N., Husbands, P., and Harvey, I. (1995). Noise and the reality gap: The use of simulation in evolutionary robotics. Lecture Notes in Computer Science, 929:704-720.
  5. Lazarus, C. and Hu, H. (2001). Using Genetic Programming to Evolve Robot Behaviours. In Proceedings of the 3rd British Conference on Autonomous Mobile Robotics & Autonomous Systems.
  6. Nordin, P. and Banzhaf, W. (1995). Genetic programming controlling a miniature robot. In Working Notes for the AAAI Symposium on Genetic Programming, pages 61-67.
  7. Pollack, J., Lipson, H., Ficici, S., Funes, P., Hornby, G., and Watson, R. (2000). Evolutionary techniques in physical robotics. In Evolvable Systems: From Biology to Hardware: Third International Conference, ICES 2000, Edinburgh, Scotland, UK, April 17-19, 2000: Proceedings. Springer.
  8. Reynolds, C. (1994). Evolution of corridor following behavior in a noisy world. In Cliff, D., Husbands, P., Meyer, J.-A., and Wilson, S., editors, From Animals to Animats 3: Proceedings of the third International Conference on Simulation of Adaptive Behavior, pages 402-410. MIT Press.
Download


Paper Citation


in Harvard Style

Wyns B., Bonte B. and Boullart L. (2010). EVOLVING ROBUST ROBOT CONTROLLERS FOR CORRIDOR FOLLOWING USING GENETIC PROGRAMMING . In Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-674-021-4, pages 443-446. DOI: 10.5220/0002588204430446


in Bibtex Style

@conference{icaart10,
author={Bart Wyns and Bert Bonte and Luc Boullart},
title={EVOLVING ROBUST ROBOT CONTROLLERS FOR CORRIDOR FOLLOWING USING GENETIC PROGRAMMING},
booktitle={Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2010},
pages={443-446},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002588204430446},
isbn={978-989-674-021-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - EVOLVING ROBUST ROBOT CONTROLLERS FOR CORRIDOR FOLLOWING USING GENETIC PROGRAMMING
SN - 978-989-674-021-4
AU - Wyns B.
AU - Bonte B.
AU - Boullart L.
PY - 2010
SP - 443
EP - 446
DO - 10.5220/0002588204430446