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Robotics Engineering | ||
| Engineering and Technology Journal | ||
| Article 1, Volume 28, Issue 7, 2010, Pages 1484-1501 PDF (158.42 K) | ||
| DOI: 10.30684/etj.28.7.17 | ||
| Author | ||
| Lubna Z. Bashir | ||
| Building and Constriction Engineering Department, University of Technology /Baghdad | ||
| Abstract | ||
| In this work an approach to robotics engineering called layered evolution and merging features from the subsumption architecture into evolutionary robotics is presented, This approach is used to construct a layered controller for a small simulated robot called street sweeper (SS) that learn crossing a busy street and satisfied its goal of collecting garbage and not getting crushed by passing cars i.e. behaving very adaptively and intelligently in its specified environment. The system uses three classifier systems, which has two levels distributed architecture. Three classifier systems were used to perform complex behavior. First classifier learns simulated robot to crossing the street i.e. move one step toward garbage when there is no predator such as cars passing the street or traffic light color is red . Second classifier learns the simulated robot to stop when the cars are passing the street or traffic light color is green. The third classifier system is controller classifier system should learn switching policy i.e. to which classifier system gives the control when more than one of them is active T. est results, show that the use of a layered evolution can help to control the complexity of learning. a subsumption architecture were design in which each layer is a basic behavior or a control behavior. In addition each single layer have smaller search space therefore the over all task could be easier. | ||
| Keywords | ||
| Evolutionary robotics; subsumption architecture; Artificial Inelegance; Behavior Based Robotic; Reactive Control | ||
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