Preprint 21/2001

Evolving neuro-modules and their interfaces to control autonomous robots

Bruno Lara, Martin Hülse, and Frank Pasemann

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Submission date: 20. Apr. 2001
Pages: 14
published in: Proceedings of the 5th world multiconference on systemics, cybernetics and informatics : SCI/ISAS 2001 ; July 22-25, 2001, Orlando, Florida
Orlando, FL : The Institute, 2001. - P. 259 - 264
with the following different title: Evolving different neuro-modules and their interfaces to control autonomous robots
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An evolutionary algorithm for the creation of recurrent network structures is presented. The aim is to develop neural networks controlling the behaviour of miniature robots. Two neuro-modules are created separately using this evolutionary approach. The first neuro-module gives the agents the ability to move within an environment without colliding with obstacles. The second neuro-module provides the agents with a phototropic behaviour. The interaction of the neuro-modules is then investigated evolving the necessary interface to provide the agents with a coherent obstacle avoidance and phototropic behaviour. The evolution process is carried out in a simulated environment and individuals with high performance are also tested on a physical environment with the use of Khepera robots.

24.11.2021, 02:11