Evolution of Homing Navigation in a Real Mobile Robot (1996)
| Venue: | IEEE Transactions on Systems, Man, and Cybernetics--Part B: Cybernetics |
| Citations: | 194 - 25 self |
BibTeX
@ARTICLE{Floreano96evolutionof,
author = {Dario Floreano and Francesco Mondada},
title = {Evolution of Homing Navigation in a Real Mobile Robot},
journal = {IEEE Transactions on Systems, Man, and Cybernetics--Part B: Cybernetics},
year = {1996},
pages = {39640--7}
}
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Abstract
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 showthat 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 interactions that were employed in a preliminary experiment. The emergent homing behavior is based on the autonomous development ofaninternal neural topographic map (which is not pre-designed) that allows the robot to choose the appropriate trajectory as function of location and remaining energy.
