• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Robotics and Autonomous Systems >Behavioral control through evolutionary neurocontrollers for autonomous mobile robot navigation
【24h】

Behavioral control through evolutionary neurocontrollers for autonomous mobile robot navigation

机译：通过进化神经控制器的行为控制，用于自主移动机器人导航

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper deals with the study of scaling up behaviors in evolutive robotics (ER). Complex behaviors were obtained from simple ones. Each behavior is supported by an artificial neural network (ANN)-based controller or neurocontroller. Hence, a method for the generation of a hierarchy of neurocontrollers, resorting to the paradigm of Layered Evolution (LE), is developed and verified experimentally through computer simulations and tests in a Khepera micro-robot. Several behavioral modules are initially evolved using specialized neurocontrollers based on different ANN paradigms. The results show that simple behaviors coordination through LE is a feasible strategy that gives rise to emergent complex behaviors. These complex behaviors can then solve real-world problems efficiently. From a pure evolutionary perspective, however, the methodology presented is too much dependent on user's prior knowledge about the problem to solve and also that evolution take place in a rigid, prescribed framework. Mobile robot's navigation in an unknown environment is used as a test bed for the proposed scaling strategies.
机译：本文涉及扩展进化型机器人（ER）行为的研究。复杂行为是从简单行为获得的。每个行为都由基于人工神经网络（ANN）的控制器或神经控制器来支持。因此，通过Khepera微型机器人中的计算机仿真和测试，开发并依靠分层进化（LE）范式生成神经控制器层次的方法。几个行为模块最初是使用基于不同ANN范例的专用神经控制器开发的。结果表明，通过LE进行简单的行为协调是一种可行的策略，可引起突发的复杂行为。这些复杂的行为可以有效地解决现实世界中的问题。但是，从纯粹的进化观点来看，所呈现的方法在很大程度上取决于用户对问题的先验知识，无法解决，并且进化是在严格的规定框架内进行的。移动机器人在未知环境中的导航用作所提出的缩放策略的测试平台。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号