Off-line Evolution for a Robot Navigation System based on a Gate-Level Evolvable Hardware (1997)
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BibTeX
@MISC{Keymeulen97off-lineevolution,
author = {Didier Keymeulen and Kenji Konaka and Masaya Iwata and Yasuo Kuniyoshi and Tetsuya Higuchi},
title = {Off-line Evolution for a Robot Navigation System based on a Gate-Level Evolvable Hardware},
year = {1997}
}
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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 gatelevel 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 generating off-line the robot behavior. The results show that the evolvable hardware system is able to obtain the desired behaviors and to generate a robust robot behavior insensitive to the gap between the real and simulated world. 1 Introduction Robotics has until recently de...
