Multi-objective evolution and Hinton analysis of minimal neural control structures in an autonomous wheeled robot for RF-localization behaviors

Chin, Kim O. and Teo, Jason Tze Wi (2010) Multi-objective evolution and Hinton analysis of minimal neural control structures in an autonomous wheeled robot for RF-localization behaviors. In: 2010 International Conference on Intelligent and Advanced Systems, ICIAS 2010, 15 June-17 June 2010, Kuala Lumpur, Malaysia .

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Abstract

A number of studies have demonstrated the capability of ANNs for the required robot behaviors by using an evolutionary optimization technique in generating more complex robot controllers. Interestingly however, there is still a serious lack of research in exploring the application of Evolutionary Multi-objective Optimization (EMO) algorithm in evolutionary robotics. In this paper, we investigate the utilization of a multi-objective approach in evolving artificial neural networks for a simulated autonomous Khepera robot. The generated neural network acts as a controller for radio frequency localization behavior of a Khepera robot. There are two conflicting objectives to be optimized during the evolution: (1) maximize the Khepera robot's behavior for homing towards a RF signal source and (2) minimize the number of hidden neurons used in the robot. The testing results showed the robots were capable to achieve the objective with very few hidden neurons used. Furthermore, the genetic structures of the generated controllers have been further analyzed using the Hinton analysis and the results obtained are presented next.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Uncontrolled Keywords: Artificial Neural Network, Evolutionary multiobjective optimization, Evolutionary optimizations, Evolutionary robotics, Genetic structure, Hidden neurons, Khepera robots, Multi objective, Neural control, Radio frequency localizations, RF signal, Robot behavior, Robot controller, Testing results, Wheeled robot
Subjects: ?? TJ210.2-211.47 ??
Divisions: SCHOOL > School of Engineering and Information Technology
Depositing User: Unnamed user with email storage.bpmlib@ums.edu.my
Date Deposited: 17 Apr 2012 08:01
Last Modified: 29 Dec 2014 08:16
URI: http://eprints.ums.edu.my/id/eprint/3908

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