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An evolutionary robot navigation system using a gate-level evolvable hardware

  • Evolutionary Robotics
  • Conference paper
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Book cover Evolvable Systems: From Biology to Hardware (ICES 1996)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1259))

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Abstract

Recently there has been a great interest in the design and study of evolvable systems based on Artificial Life principles in order to control the behavior of physically embedded systems such as a mobile robot. This paper studies an evolutionary navigation system for a mobile robot using a Boolean function approach implemented on gate-level evolvable hardware (EHW). The task of the mobile robot is to reach a goal represented by a colored light while avoiding obstacles during its motion. Using the evolution principles to build the desired behaviors, we show that the Boolean function approach using gate-level evolvable hardware is sufficient. We demonstrate the effectiveness of the generalization ability of EHW by comparing the method with a Boolean function approach implemented on a random access memory (RAM). The results show that the evolvable hardware system obtains the desired behaviors in twice fast time and that the EHW generates a robust robot behavior insensitive to the robot position and the obstacles configurations.

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Author information

Authors and Affiliations

  1. Electrotechnical Laboratory, Tsukuba, 305, Ibaraki, Japan

    Didier Keymeulen, Yasuo Kuniyoshi & Tetsuya Higuchi

  2. Ecole Nationale Superieure des Telecommunications, 46, rue Barrault, Paris, France

    Marc Durantez

  3. Logic Design Corp., Mito, 305, Ibaraki, Japan

    Kenji Konaka

Authors
  1. Didier Keymeulen
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  2. Marc Durantez
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  3. Kenji Konaka
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  4. Yasuo Kuniyoshi
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  5. Tetsuya Higuchi
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Editor information

Tetsuya Higuchi Masaya Iwata Weixin Liu

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© 1997 Springer-Verlag Berlin Heidelberg

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Keymeulen, D., Durantez, M., Konaka, K., Kuniyoshi, Y., Higuchi, T. (1997). An evolutionary robot navigation system using a gate-level evolvable hardware. In: Higuchi, T., Iwata, M., Liu, W. (eds) Evolvable Systems: From Biology to Hardware. ICES 1996. Lecture Notes in Computer Science, vol 1259. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63173-9_47

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  • DOI: https://doi.org/10.1007/3-540-63173-9_47

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-63173-6

  • Online ISBN: 978-3-540-69204-1

  • eBook Packages: Springer Book Archive

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