Concurrent controller and Simulator Neural Network development for a snake-like robot in Evolutionary Robotics

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• 作者：Grant W. Woodford^a ; ^{grant.woodford@nmmu.ac.za}Author Vitae ; Mathys C. du Plessis^a ; ^{mc.duplessis@nmmu.ac.za}Author Vitae ; Christiaan J. Pretorius^b ; ^{cpretorius@nmmu.ac.za}Author Vitae
• 关键词：Evolutionary Robotics ; Coevolution ; Simulator ; Artificial Neural Networks ; Snake robot
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：88
• 期：Complete
• 页码：37-50
• 全文大小：1239 K
• 卷排序：88

文摘

Controllers are developed for trajectory planning using Evolutionary Robotics and a complex snake-like robot. The Bootstrapped Neuro-Simulation approach is proposed for the concurrent development of controllers and a simulator. Robot behaviours are simulated using Artificial Neural Networks. Controllers and a simulator are successfully developed concurrently and behaviours observed in simulation transfer well into reality. An extensive parameter comparison study of the proposed approach is conducted.