Evolving Robot Controllers for Structured Environments Through Environment Decomposition

Rodrigo Moreno, Andres Faiña, Kasper Støy

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Abstrakt

In this paper we aim to develop a controller that allows a robot to traverse an structured environment. The approach we use is to decompose the environment into simple sub-environments that we use as basis for evolving the controller. Specifically, we decompose a narrow corridor environment into four different sub-environments and evolve controllers that generalize to traverse two larger environments composed of the sub-environments. We also study two strategies for presenting the sub-environments to the evolutionary algorithm: all sub-environments at the same time and in sequence. Results show that by using a sequence the evolutionary algorithm can find a controller that performs well in all sub-environments more consistently than when presenting all sub-environments together. We conclude that environment decomposition is an useful approach for evolving controllers for structured environments and that the order in which the decomposed sub-environments are presented in sequence impacts the performance of the evolutionary algorithm.
OriginalsprogEngelsk
TitelApplications of Evolutionary Computation : 18th European Conference, EvoApplications 2015, Copenhagen, Denmark, April 8-10, 2015, Proceedings
Antal sider12
Vol/bind9028
ForlagSpringer International Publishing, Switzerland
Publikationsdato2015
Sider795-806
ISBN (Trykt)978-3-319-16548-6
ISBN (Elektronisk)978-3-319-16549-3
StatusUdgivet - 2015
BegivenhedEvolutionary Computation in Robotics - Copenhagen, Danmark
Varighed: 8 apr. 201510 apr. 2015
http://www.evostar.org/2015/cfp_evorobot.php

Konference

KonferenceEvolutionary Computation in Robotics
Land/OmrådeDanmark
ByCopenhagen
Periode08/04/201510/04/2015
AndetThe Leading European Event on Bio-Inspired Computation
Internetadresse
NavnLecture Notes in Computer Science
ISSN0302-9743

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