Acquisition of Perceptual System Using Genetic Programming for Perception-Based Robotics

Abstract

This paper deals with the perceptual system for the perception-based robotics. The robotic system is composed of the perceptual system and the action system. The fuzzy controller is adopted for the action system. Genetic programming (GP) is adopted to generate analytic functions associated with a perceptual system of the mobile robot. These functions extract effective features from a set of sensing data. The robot can acquire its perceptual system which is suitable to the facing environment by generating functions to translate sensing information to perceptual information. The effectiveness of the proposal approach is demonstrated by computer experiments for collision avoidance problem.