2A2-E03 遺伝的アルゴリズムによるロボットの自律行動プログラムの生成

概要

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In this study we developed the autonomous control program of the small mobile robot with genetic algorithm (GA). Parameter search algorithm by GA was incorporated in the control program of the robot. Control parameters are sensitivity of sensor and angle of rotation. Using this program, we investigated the control parameters of the robot by adaptation evolution and derived the most suitable control value. By the normal control method, it was difficult to find the optimized values from the combination of many parameters, but our GA program can derive appropriate parameters by some trial tests. Furthermore, we developed computer simulation system of robot movement which programmed by genetic algorithm. This system can simulate the robot movement of test field, and we obtained the similar parameters by comparing robot simulator with actual robot.
一般社団法人日本機械学会の論文
2009-05-25