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

Kyung Joong Kim; Sung Bae Cho

doi:10.1109/CIRA.2001.1013246

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

Kyung Joong Kim, Sung Bae Cho

College of Computing

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
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.
Pages	467-472
Number of pages	6
ISBN (Electronic)	0780372034
DOIs	https://doi.org/10.1109/CIRA.2001.1013246
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

Publication series

Name	Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume	2001-January

Other

Other	IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001
Country/Territory	Canada
City	Banff
Period	01/7/29 → 01/8/1

Bibliographical note

Publisher Copyright:
© 2001 IEEE.

All Science Journal Classification (ASJC) codes

Computational Mathematics

Access to Document

10.1109/CIRA.2001.1013246

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). Article 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

Kim, Kyung Joong ; Cho, Sung Bae. / Dynamic selection of evolved neural controllers for higher behaviors of mobile robot. Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. editor / Hong Zhang ; Peter Xiaoping Liu. Institute of Electrical and Electronics Engineers Inc., 2001. pp. 467-472 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA).

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title = "Dynamic selection of evolved neural controllers for higher behaviors of mobile robot",

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.",

author = "Kim, {Kyung Joong} and Cho, {Sung Bae}",

note = "Publisher Copyright: {\textcopyright} 2001 IEEE.; IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001 ; Conference date: 29-07-2001 Through 01-08-2001",

year = "2001",

doi = "10.1109/CIRA.2001.1013246",

language = "English",

series = "Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA",

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Kim, KJ & Cho, SB 2001, Dynamic selection of evolved neural controllers for higher behaviors of mobile robot. in H Zhang & PX 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., 1013246, Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, vol. 2001-January, Institute of Electrical and Electronics Engineers Inc., pp. 467-472, IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001, Banff, Canada, 01/7/29. https://doi.org/10.1109/CIRA.2001.1013246

Dynamic selection of evolved neural controllers for higher behaviors of mobile robot. / Kim, Kyung Joong; Cho, Sung Bae.
Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. ed. / Hong Zhang; Peter Xiaoping Liu. Institute of Electrical and Electronics Engineers Inc., 2001. p. 467-472 1013246 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Kim KJ, Cho SB. Dynamic selection of evolved neural controllers for higher behaviors of mobile robot. In Zhang H, Liu PX, editors, Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. Institute of Electrical and Electronics Engineers Inc. 2001. p. 467-472. 1013246. (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA). doi: 10.1109/CIRA.2001.1013246

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

Abstract

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Bibliographical note

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Cite this