An evolutionary robot navigation system using a gate-level evolvable hardware View Full Text


Ontology type: schema:Chapter      Open Access: True


Chapter Info

DATE

1997

AUTHORS

Didier Keymeulen , Marc Durantez , Kenji Konaka , Yasuo Kuniyoshi , Tetsuya Higuchi

ABSTRACT

Recently there has been a great interest in the design and study of evolvable systems based on Artificial Life principles in order to control the behavior of physically embedded systems such as a mobile robot. This paper studies an evolutionary navigation system for a mobile robot using a Boolean function approach implemented on gate-level evolvable hardware (EHW). The task of the mobile robot is to reach a goal represented by a colored light while avoiding obstacles during its motion. Using the evolution principles to build the desired behaviors, we show that the Boolean function approach using gate-level evolvable hardware is sufficient. We demonstrate the effectiveness of the generalization ability of EHW by comparing the method with a Boolean function approach implemented on a random access memory (RAM). The results show that the evolvable hardware system obtains the desired behaviors in twice fast time and that the EHW generates a robust robot behavior insensitive to the robot position and the obstacles configurations. More... »

PAGES

193-209

Book

TITLE

Evolvable Systems: From Biology to Hardware

ISBN

978-3-540-63173-6
978-3-540-69204-1

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/3-540-63173-9_47

DOI

http://dx.doi.org/10.1007/3-540-63173-9_47

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1024868512


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