An Evolutionary Robot Navigation System using a Gate-Level Evolvable Hardware (1996)
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BibTeX
@MISC{Keymeulen96anevolutionary,
author = {Didier Keymeulen and Marc Durantez and Kenji Konaka and Yasuo Kuniyoshi and Tetsuya Higuchi},
title = {An Evolutionary Robot Navigation System using a Gate-Level Evolvable Hardware},
year = {1996}
}
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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 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 p...
