Abstract
In this paper an evolution strategy (ES) is introduced, to learn weights of a neural network controller in autonomous robots. An ES is used to learn high-performance reactive behavior for navigation and collisions avoidance. The learned behavior is able to solve the problem in different environments; so, the learning process has proven the ability to obtain a specialized behavior. All the behaviors obtained have been tested in a set of environment and the capability of generalization is showed for each learned behavior. No subjective information about “how to accomplish the task” has been included in the fitness function. A simulator based on mini-robot Khepera has been used to learn each behavior.
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© 1999 Springer-Verlag Berlin Heidelberg
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Berlanga, A., Molina, J.M., Sanchis, A., Isasi, P. (1999). Applying evolution strategies to neural networks robot controller. In: Mira, J., Sánchez-Andrés, J.V. (eds) Engineering Applications of Bio-Inspired Artificial Neural Networks. IWANN 1999. Lecture Notes in Computer Science, vol 1607. Springer, Berlin, Heidelberg . https://doi.org/10.1007/BFb0100519
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DOI: https://doi.org/10.1007/BFb0100519
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