FSM-based Evolution in a Swarm of Real Wanda Robots
ثبت نشده
چکیده
The creation of mechanisms to control the behavior of mobile robots becomes increasingly complex with the complexity of the desired tasks and the environment involved. Evolutionary Robotics is a methodology for the automatic generation of robot control mechanisms using basic principles from natural evolution, i.e., mutation, recombination and selection. In this paper, a decentralized online-evolutionary model based on finite state machines (FSMs) is investigated with respect to its ability of evolving controllers for a swarm of mobile robots. The model originally has been proposed for simulation and is now implemented for a real-robot scenario. A new selection operator is proposed which implements a decentralized version of tournament selection with arbitrarily many parents. In a real-robot experimentation setup using ”Wanda” robots it is showed that basic behaviors like Collision Avoidance and Gate Passing can be evolved by the proposed model. Furthermore, the paper discusses some implementation details specific to real hardware; this includes particularly a specially designed communication protocol used for selection, an onboard fitness function based solely on sensoric information, and a recovery mechanism for the case of
منابع مشابه
Evolution of Collective Behaviors for a Real Swarm of Aquatic Surface Robots
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. I...
متن کاملDirect adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization
In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...
متن کاملEvolving Self-Organizing Behaviors for a Swarm-Bot
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artificial evolution. Specifically, we study aggrega...
متن کاملPareto design of fuzzy tracking control based on the particle swarm optimization algorithm for a walking robot in the lateral plane on slope
Many researchers have controlled and analyzed biped robots that walk in the sagittal plane. Nevertheless, walking robots require the capability to walk merely laterally, when they are faced with the obstacles such as a wall. In walking robot field, both nonlinearity of the dynamic equations and also having a tracking system cause an effective control has to be utilized to address these problems...
متن کاملSelf-Adjusting Finite State Machines: an approach to Real-Time Autonomous Behavior in Robots
In the Robotics industry, it is a frequent requirement that robots operate in real-time. The usual approach to this issue involves creating robots driven entirely by direct environmental input rather than complicated planning and decision-making AI. This approach means that the current state of the robot in relation to its environment exclusively determines the actions of the robot. In the simp...
متن کامل