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An Incremental Approach in Evolving Robot Behavior Dhiraj Bajaj, Marcelo H. Ang Jr.*
 

Summary: An Incremental Approach in Evolving Robot Behavior
Dhiraj Bajaj, Marcelo H. Ang Jr.*
Department of Mechanical Engineering
The National University of Singapore
10 Kent Ridge Crescent, Singapore 119260
*mpeangh@nus.edu.sg
Abstract
This paper describes an incremental evolutionary
approach used in the development of a suitable neural
controller for achieving robust obstacle avoidance
behavior, which is then further fine-tuned towards a
wall following one for a simple mobile robot. The
incremental approach mainly involves an alteration of
the environment in which the evolution takes place as
well the fitness function used in the genetic algorithm.
This approach has been seen to be more fruitful than a
single direct approach. Interesting behaviors have
evolved from this incremental approach.
1. Introduction
One way of defining the intelligence of autonomous

  

Source: Ang Jr.,, Marcelo H. - Department of Mechanical Engineering, National University of Singapore

 

Collections: Engineering