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Genetic evolution of the subsumption architecture which controls an autonomous mobile robot

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Complexity and Diversity

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Abstract

We propose a method to evolve the Subsumption Architecture to control autonomous robots. Each layers of the subsumption architecture was subdivided into sublayers. Each sublayer was composed of functional modules, which were determined by evolution in environment.

This algorithm was implemented in a real miniature mobile robot, Khepera, and several experiments were performed. Khepera successfully learned to navigate and avoid obstacles in test fields.

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References

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Author information

Authors and Affiliations

  1. Dept., of Info. Sci., Fukui Univ., Fukui-shi, Fukui 910, Japan

    Ryoichi Odagiri (Faculty of Eng.), Taku Naito (Faculty of Eng.), Tatsuya Asai (Faculty of Eng.) & Kazuyuki Murase (Faculty of Eng.)

  2. Aichi Univ. of Edu., Kariya-shi, Aichi 444, Japan

    Yutaka Matsunaga (Faculty of Edu.)

Authors
  1. Ryoichi Odagiri
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  2. Taku Naito
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  3. Yutaka Matsunaga
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  4. Tatsuya Asai
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  5. Kazuyuki Murase
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Editor information

Editors and Affiliations

  1. Department of Bioscience, Fukui Prefectural University, 4-1-1 Kenjojima, Matsuoka-cho, Yoshida-gun, Fukui, 910-11, Japan

    Eiichi Ryoku Nakamura

  2. Department of Applied Physics, Fukui University, 3-9-1 Bunkyo, Fukui, 910, Japan

    Kiyoshi Kudo  & Yoichi Tamagawa  & 

  3. Center of Information Science, Fukui Prefectural University, 4-1-1 Kenjojima, Matsuoka-cho, Yoshida-gun, Fukui, 910-11, Japan

    Osamu Yamakawa

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© 1997 Springer-Verlag Tokyo

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Cite this paper

Odagiri, R., Naito, T., Matsunaga, Y., Asai, T., Murase, K. (1997). Genetic evolution of the subsumption architecture which controls an autonomous mobile robot. In: Nakamura, E.R., Kudo, K., Yamakawa, O., Tamagawa, Y. (eds) Complexity and Diversity. Springer, Tokyo. https://doi.org/10.1007/978-4-431-66862-6_11

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  • DOI: https://doi.org/10.1007/978-4-431-66862-6_11

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-66864-0

  • Online ISBN: 978-4-431-66862-6

  • eBook Packages: Springer Book Archive

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