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Title: Adaptive behavior of evolutionary neurocontroller for obstacle avoidance mobile robot
Authors: Gani, Aloysius Aldo
Tan, Sofyan
Keywords: DRNTU::Engineering::Computer science and engineering::Software
Issue Date: 2013
Source: Gani, A. A., Tan, S., & Meiliayana. (2013). Adaptive behavior of evolutionary neurocontroller for obstacle avoidance mobile robot. Internetworking Indonesia Journal,5(1), 31-36.
Series/Report no.: Internetworking Indonesia journal
Abstract: This research aims to analyze the adaptive behavior of an artificial neural network-based controller (neurocontroller) for an obstacle avoidance wheeled mobile robot. The neurocontroller of interest is the best of an ecosystem of neurocontrollers that evolved according to the genetic algorithm. The chromosome of each individual neurocontroller is simply the binary weights of the connections, and the fitness function is a simple rule for obstacle avoidance behavior. To limit the hardware requirements, the neurocontroller’s evolution is simulated in a computer, and the best neurocontroller behavior is analyzed in the simulation and in an actual mobile robot. Albeit a simple chromosome, the resulting best neurocontroller showed an obstacle avoidance behavior in both simulation and in the actual mobile robot, regardless of the positions of obstacles in the environment. The analysis of the chromosome after evolution also found that not all of the sensors are actually needed for the obstacle avoidance behavior.
ISSN: 1942-9703
Rights: © 2013 Internetworking Indonesia Journal. This paper was published in Internetworking Indonesia Journal and is made available as an electronic reprint (preprint) with permission of Internetworking Indonesia Journal. The paper can be found at the following URL: [].  One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:SCSE Journal Articles

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