2010 | OriginalPaper | Buchkapitel
Automatically Designing Robot Controllers and Sensor Morphology with Genetic Programming
verfasst von : Bert Bonte, Bart Wyns
Erschienen in: Artificial Intelligence Applications and Innovations
Verlag: Springer Berlin Heidelberg
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Genetic programming provides an automated design strategy to evolve complex controllers based on evolution in nature. In this contribution we use genetic programming to automatically evolve efficient robot controllers for a corridor following task. Based on tests executed in a simulation environment we show that very robust and efficient controllers can be obtained. Also, we stress that it is important to provide sufficiently diverse fitness cases, offering a sound basis for learning more complex behaviour. The evolved controller is successfully applied to real environments as well. Finally, controller and sensor morphology are co-evolved, clearly resulting in an improved sensor configuration.