Evolution of homing navigation in a real mobile robot (original) (raw)
1996, IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics)
Abstract| In this paper we describe the evolution of a discrete-time recurrent neural network to control a real mobile robot. In all our experiments the evolutionary procedure is carried out entirely on the physical robot without human intervention. We s h o w that the autonomous development of a set of behaviors for locating a battery charger and periodically returning to it can be achieved by lifting constraints in the design of the robot/environment i n teractions that were employed in a preliminary experiment. The emergent homing behavior is based on the autonomous development o f a n i n ternal neural topographic map (which i s not pre-designed) that allows the robot to choose the appropriate trajectory as function of location and remaining energy.
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