Increased swimming control with evolved lamprey CPG controllers
Increased swimming control with evolved lamprey CPG controllers
复制标题
使用进化的七鳃鳗 CPG 控制器增强游泳控制
DOI：
10.1109/ijcnn.2005.1556241
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
J. Hallam
中科院分区：
文献类型：
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作者：
L. N. Patel;A. Murray;J. Hallam
本文表明七鳃鳗的神经游泳控制器（中央模式生成器（CPG））不是唯一的解决方案，并且可以通过进化 CPG 的神经参数和连接权重来获得改进的性能。七鳃鳗是一种类似鳗鱼的鱼，其推进力是由其脊髓神经网络的活动控制的。该 CPG 根据 Ekeberg 模型进行模拟，然后使用遗传算法技术进行进化，以探索替代配置的领域。结果表明存在几种合适的控制器。四十次实验中的最佳控制器产生了 1.42 - 12.16 Hz 的可控频率范围，大幅增加了生物网络频率范围 (1.74 - 5.56 Hz)。演进网络的内部连接数为16个连接，低于Ekeberg模型的26个连接。因此，进化网络可以在更宽的频率范围内运行（比它们的生物原型和单独进化权重的控制器），同时保持较低的系统复杂性。不断发展的先进而简单的控制器提供了更容易在硅（VLSI）中实现的解决方案，提高了任务特定控制的性能，并确定了自然界解决方案的独特程度。
This paper shows that the lamprey's neural swimming controller (central pattern generator (CPG)) is not a unique solution and that improved performance can be obtained by evolving the CPG's neural parameters and connection weights. Propulsion in the lamprey, an eel-like fish, is governed by activity in its spinal neural network. This CPG is simulated, in accordance with Ekeberg's model, and then evolved using genetic algorithm techniques to explore the domain of alternative configurations. Results indicate several suitable controllers exist. The best controller from forty experiments produces a controllable frequency range of 1.42 - 12.16 Hz, a substantial increase on the biological network frequency range (1.74 - 5.56 Hz). Internal connectivity of the evolved network is 16 connections, lower than the 26 connections of Ekeberg's model. Thus, evolved networks can operate over a wider frequency range (than their biological prototype and controllers evolving weights alone) whilst maintaining low system complexity. Evolving advanced yet simple controllers provides solutions which are more attainable in silicon (VLSI), improves performance for task specific control and determines the extent to which nature's solutions are unique.