Motion Planning for Effective and Robust Domestic Sweep Robot using Competitive Co-evolution

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Recently, domestic work by the autonomous mobile robot has been achieved. However, it is difficult to achieve their works appropriately with advanced planning in a dynamic and unknown working environment. In this research, a competitive co-evolution algorithm is proposed for composing a robust action planning equipment. With this proposal method, action planning equipment is improved in the style of having been suitable for environment. by contrast, working environment is corrupted so that it becomes difficult environment for a robot. The effectiveness of the proposed method is shown by acquiring a robust action planning equipment against various working environment with simulation.