Automate Mobile Robot Actions Strategy Using Grammatical Evolution

抄録

Creating a control program for robots needs explicit definition of each action to handle inputs from sensors and produce outputs to actuator. The aim of this project is to use Grammatical Evolution (GE) to automate the process of producing multiple actions as strategy. This algorithm can separate searching space and generated program, thus eliminating human criteria bias when creating a robot controller while able to find more optimized and complex actions strategy. The evaluation is done through partially observed maze problem which objective to find goal without defining starting orientation and discoverable path along the way.