Studies on Motion Control of a Modular Robot Using Cellular Automata

Studies on Motion Control of a Modular Robot Using Cellular Automata
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DOI：
10.1007/11941439_73
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发表时间：
2006-12
期刊：
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影响因子：
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通讯作者：
S. Lal;Koji Yamada;S. Endo
S. Lal;Koji Yamada;S. Endo
中科院分区：
其他
文献类型：
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作者：
S. Lal;Koji Yamada;S. Endo

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在本文中，我们报告的初步调查结果，使用元胞自动机（CA）作为一个底层架构，在控制运动的五足脆性星星型机器人。三个控制模型的增量设计，利用遗传算法（GA）以及协同进化算法在寻找合适的规则的自动机。使用开放动力学引擎（ODE）的模拟被用来验证每个模型获得的规则。从结果的迹象是有前途的CA作为可行的运动控制手段的支持。
In this paper we report preliminary findings of using cellular automata (CA) as an underlying architecture in controlling the motion of a five-legged brittle star typed robot. Three control models were incrementally designed making use of genetic algorithm (GA) as well as co-evolutionary algorithm in finding appropriate rules for automaton. Simulations using Open Dynamics Engine (ODE) was used to verify the rules obtained for each of the models. The indications from the results are promising in support for CA as feasible means for motion control.