Evolution of homing navigation in a real mobile robot
Evolution of homing navigation in a real mobile robot
复制标题
DOI：
10.1109/3477.499791
复制
发表时间：
1996-06-01
影响因子：
--
通讯作者：
Mondada, F
中科院分区：
文献类型：
--
作者：
Floreano, D;Mondada, F
在本文中，我们描述了一个离散时间递归神经网络控制真实的移动的机器人的演变。在我们所有的实验中，进化过程完全是在没有人为干预的情况下在物理机器人上进行的，我们表明，定位电池充电器并定期返回它的一组行为的自主发展可以通过在初步实验中采用的机器人/环境交互的设计中解除约束来实现，紧急归巢行为是基于内部神经地形图的自主发展（这不是预先设计的），允许机器人选择适当的轨迹作为位置和剩余能量的函数。
In this paper we describe the evolution of a discrete-time recurrent neural network to control a real mobile robot. In all our experiments the evolutionary procedure is carried out entirely on the physical robot without human intervention, We show that the autonomous development of a set of behaviors for locating a battery charger and periodically returning to it can be achieved by lifting constraints in the design of the robot/environment interactions that were employed in a preliminary experiment, The emergent homing behavior is based on the autonomous development of an internal neural topographic map (which is not pre-designed) that allows the robot to choose the appropriate trajectory as function of location and remaining energy.