Evolving Controllers for a Transformable Wheel Mobile Robot
Joint Authors
Clark, Anthony J.
Cissell, Keith A.
Moore, Jared M.
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-16
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Unmanned ground vehicles (UGVs) are well suited to tasks that are either too dangerous or too monotonous for people.
For example, UGVs can traverse arduous terrain in search of disaster victims.
However, it is difficult to design these systems so that they perform well in a variety of different environments.
In this study, we evolve controllers and physical characteristics of a UGV with transformable wheels to improve its mobility in a simulated environment.
The UGV’s mission is to visit a sequence of coordinates while automatically handling obstacles of varying sizes by extending wheel struts radially outward from the center of each wheel.
Evolved finite state machines (FSMs) and artificial neural networks (ANNs) are compared, and a set of controller design principles are gathered from analyzing these experiments.
Results show similar performance between FSM and ANN controllers but differing strategies.
Finally, we show that a UGV’s controller and physical characteristics can be effectively chosen by examining results from evolutionary optimization.
American Psychological Association (APA)
Clark, Anthony J.& Cissell, Keith A.& Moore, Jared M.. 2018. Evolving Controllers for a Transformable Wheel Mobile Robot. Complexity،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1135904
Modern Language Association (MLA)
Clark, Anthony J.…[et al.]. Evolving Controllers for a Transformable Wheel Mobile Robot. Complexity No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1135904
American Medical Association (AMA)
Clark, Anthony J.& Cissell, Keith A.& Moore, Jared M.. Evolving Controllers for a Transformable Wheel Mobile Robot. Complexity. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1135904
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1135904