Evolution of a control architecture for a mobile
robot
M. Ebner. Proceedings of the Second International Conference on
Evolvable Systems: From Biology to Hardware (ICES 98), volume 1478 of LNCS, page 303--310. Lausanne, Switzerland, Springer Verlag, (23-25 September 1998)
Abstract
Programming a robot to perform a desired task in an
unknown environment is a difficult task. Due to
unexpected interactions between the environment and the
robot many iterations of program development are often
required. Using genetic programming the robots
themselves may search the space of possible programs.
In an experiment which was conducted over a period of
two months we evolved a behavior-based control
architecture for a large sized mobile robot, a Real
World Interface B21. This is the first time that a
large mobile robot was used in evolutionary robotics
using tree-based genetic programming. In addition, our
architecture uses conditional statements to build up a
hierarchical reactive control structure. Sonar sensors
are used to sense the environment. Because the robot is
able to exert a considerable force if it crashes into
an object, safety measures had to be taken to
automatically monitor the run.
%0 Conference Paper
%1 Ebner:1998c
%A Ebner, Marc
%B Proceedings of the Second International Conference on
Evolvable Systems: From Biology to Hardware (ICES 98)
%C Lausanne, Switzerland
%D 1998
%E Sipper, Moshe
%E Mange, Daniel
%E Perez-Uribe, Andres
%I Springer Verlag
%K algorithms, genetic programming
%P 303--310
%T Evolution of a control architecture for a mobile
robot
%U http://citeseer.ist.psu.edu/512626.html
%V 1478
%X Programming a robot to perform a desired task in an
unknown environment is a difficult task. Due to
unexpected interactions between the environment and the
robot many iterations of program development are often
required. Using genetic programming the robots
themselves may search the space of possible programs.
In an experiment which was conducted over a period of
two months we evolved a behavior-based control
architecture for a large sized mobile robot, a Real
World Interface B21. This is the first time that a
large mobile robot was used in evolutionary robotics
using tree-based genetic programming. In addition, our
architecture uses conditional statements to build up a
hierarchical reactive control structure. Sonar sensors
are used to sense the environment. Because the robot is
able to exert a considerable force if it crashes into
an object, safety measures had to be taken to
automatically monitor the run.
%@ 3-540-64954-9
@inproceedings{Ebner:1998c,
abstract = {Programming a robot to perform a desired task in an
unknown environment is a difficult task. Due to
unexpected interactions between the environment and the
robot many iterations of program development are often
required. Using genetic programming the robots
themselves may search the space of possible programs.
In an experiment which was conducted over a period of
two months we evolved a behavior-based control
architecture for a large sized mobile robot, a Real
World Interface B21. This is the first time that a
large mobile robot was used in evolutionary robotics
using tree-based genetic programming. In addition, our
architecture uses conditional statements to build up a
hierarchical reactive control structure. Sonar sensors
are used to sense the environment. Because the robot is
able to exert a considerable force if it crashes into
an object, safety measures had to be taken to
automatically monitor the run.},
added-at = {2008-06-19T17:35:00.000+0200},
address = {Lausanne, Switzerland},
author = {Ebner, Marc},
biburl = {https://www.bibsonomy.org/bibtex/2c8412880b8d27b1e797d42f10e9998c1/brazovayeye},
booktitle = {Proceedings of the Second International Conference on
Evolvable Systems: From Biology to Hardware (ICES 98)},
editor = {Sipper, Moshe and Mange, Daniel and Perez-Uribe, Andres},
interhash = {5549de503f18f7d68ae4095eae2273b8},
intrahash = {c8412880b8d27b1e797d42f10e9998c1},
isbn = {3-540-64954-9},
keywords = {algorithms, genetic programming},
month = {23-25 September},
notes = {ICES98},
pages = {303--310},
publisher = {Springer Verlag},
publisher_address = {Berlin},
series = {LNCS},
timestamp = {2008-06-19T17:39:01.000+0200},
title = {Evolution of a control architecture for a mobile
robot},
url = {http://citeseer.ist.psu.edu/512626.html},
volume = 1478,
year = 1998
}