あいまい行動型制御 : 第2報, 種を有するウイルス進化遺伝的アルゴリズムによる学習

概要

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In this paper, we describe a learning of fuzzy behavior-based control system by applying a virusevolutionary genetic algorithm with species. We first state the development of a virus-evolutionary genetic algorithm with species(VEGAS), in which one population is divided into some subpopulations(i.e., species)so that a virus infection between species can be introduced as well as a virus infection within a species. We then apply the VEGAS to the learning of a fuzzy behavior-based control system for a mobile robot with two independent driving wheels, where a control problem of acquiring multi-objective points is considered. The effectiveness of the present learning method is demonstrated by a set of computer simulations, compared to the conventional method with a simple GA.
一般社団法人日本機械学会の論文
2000-01-25