Evolution of the Autonomous Mobile Robot under the Real Environment Using Fitness Estimation

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  • 評価値推論を用いた自律移動ロボットの実環境での進化
  • ヒョウカチ スイロン オ モチイタ ジリツ イドウ ロボット ノ ジツ カンキョウ デ ノ シンカ

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Recently, Evolutionary Robotics have been applied to evolve the behavior of the autonomous mobile robot. Using Evolutionary Robotics method, the robot controllers are designed in the simulated environment. Evolutionary Robotics are expected as new design methods for the robot controller. However, there exist some errors in the simulated model and the acquired controllers do not always work in the real world. In this research, to overcome these implementation problems, we are focused on the evolution in the real environment using Genetic Algorithm. This approach arises another problem that the load for human operators in fitness evaluation are quite high. To reduce this load, we applied the fitness estimation in the GA procedure. The experimental results show the effectiveness of the proposed method.

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