SICE Journal of Control, Measurement, and System Integration
Online ISSN : 1884-9970
Print ISSN : 1882-4889
ISSN-L : 1882-4889
CONTRIBUTED PAPERS
Evolution of Active Sensing for Wall-Following Navigation of Snake-Like Robot
Ivan TANEVKatsunori SHIMOHARA
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2009 Volume 2 Issue 4 Pages 222-228

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Abstract

We propose an approach of automated co-evolution of the optimal values of attributes of active sensing (orientation, range and timing of activation of sensors) and the control of locomotion gaits of a simulated snake-like robot (Snakebot) that result in a fast speed of locomotion in a confined environment. The experimental results illustrate the emergence of a contactless wall-following navigation of fast sidewinding Snakebots. The wall-following is accomplished by means of differential steering, facilitated by the evolutionary defined control sequences incorporating the readings of evolutionary optimized sensors.

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© 2009 The Society of Instrument and Control Engineers
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