An On-Line Method to Evolve Behavior and to Control a Miniature Robot in Real Time with Genetic Programming
Nordin Peter; Banzhaf Wolfgang
Журнал:
Adaptive Behavior
Дата:
1997
Аннотация:
We present a novel evolutionary approach to robotic control of a real robot
based on genetic programming (GP). Our approach uses GP techniques that
manipulate machine code to evolve control programs for robots. This variant of
GP has several advantages over a conventional GP system, such as higher
speed, lower memory requirements, and better real-time properties. Previous
attempts to apply GP in robotics use simulations to evaluate control programs
and have difficulties with learning tasks involving a real robot. We present an
on-line control method that is evaluated in two different physical environments
and applied to two tasks—obstacle avoidance and object following—using the
Khepera robot platform. The results show fast learning and good
generalization.
1.566Мб