An overview on automatic design of robot controllers for complex tasks
نویسنده
چکیده
3 Complex Tasks: problem and solutions 4 3.1 Hierarchial strategy . . . . . . . . . 4 3.1.1 Primitives Arbitrators . . . 4 3.1.2 GP and regulatory genes . . 5 3.2 Incremental strategy . . . . . . . . . 5 3.2.1 Training on a simplified task first . . . . . . . . . . . . . . 5 3.2.2 Training on a part of the task first . . . . . . . . . . . . . . 6 3.2.3 Dynamic fitness functions . . 6 3.2.4 Coevolutionary approach . . 6 3.3 Structural controller evolution . . . . 6 3.3.1 Macro elements and mixed evolution . . . . . . . . . . . 7 3.4 Modular architectures . . . . . . . . 7 3.5 Evolutionary Bias . . . . . . . . . . 7
منابع مشابه
Adaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
The ever-growing use of various vehicles for transportation, on the one hand, and the statistics ofsoaring road accidents resulting from human error, on the other hand, reminds us of the necessity toconduct more extensive research on the design, manufacturing and control of driver-less intelligentvehicles. For the automatic control of an autonomous vehicle, we need its dynamic...
متن کاملDesign and implementation of an automatic car turning system
In this paper, a control system is designed for automatic car turning. At first, the necessary information of car turning that were collected from the traffic bylaw, car driving training centers and traffic police are explained. Then, car turning is studied experimentally on several streets with different widths. Afterward, a proper path is designed for the automatic car turning system consider...
متن کاملIncremental Evolutionary Methods for Automatic Programming of Robot Controllers
The aim of the main work in the thesis is to investigate Incremental Evolution methods for designing a suitable behavior arbitration mechanism for behavior-based (BB) robot controllers for autonomous mobile robots performing tasks of higher complexity. The challenge of designing effective controllers for autonomous mobile robots has been intensely studied for few decades. Control Theory studies...
متن کاملAn Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
متن کاملProposing an Efficient Software-Based Method for Enhancing the Reliability of Critical Application Robot
Robots play such remarkable roles in humans’ modern lives that performing many tasks without them isimpossible. Using robotic systems is gradually increasing the tasks allocated to them and they are becomingmore complex and critical. Software reliability is one of the most significant requirements of robots. Forenhancing reliability, systems should be inherently designed to be tolerable of soft...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- CoRR
دوره abs/1502.02844 شماره
صفحات -
تاریخ انتشار 2015