Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot

Created by W.Langdon from gp-bibliography.bib Revision:1.4420

  author =       "Gregory J. Barlow and Leonardo S. Mattos and 
                 Edward Grant and Choong K. Oh",
  title =        "Transference of Evolved Unmanned Aerial Vehicle
                 Controllers to a Wheeled Mobile Robot",
  booktitle =    "Proceedings of the IEEE International Conference on
                 Robotics and Automation",
  year =         "2005",
  editor =       "Ruediger Dillmann",
  address =      "Barcelona, Spain",
  month =        "18-22 " # apr,
  organisation = "IEEE Robotics and Automation Society",
  publisher =    "IEEE",
  keywords =     "genetic algorithms, genetic programming",
  URL =          "",
  abstract =     "Transference of controllers evolved in simulation to
                 real vehicles is an important issue in evolutionary
                 robotics (ER). We have previously evolved autonomous
                 navigation controllers for fixed wing UAV applications
                 using multi-objective genetic programming (GP).
                 Controllers were evolved to locate a radar source,
                 navigate the UAV to the source efficiently using
                 on-board sensor measurements, and circle around the
                 emitter. We successfully tested an evolved UAV
                 controller on a wheeled mobile robot. A passive sonar
                 system on the robot was used in place of the radar
                 sensor, and a speaker emitting a tone was used as the
                 target in place of a radar. Using the evolved
                 navigation controller, the mobile robot moved to the
                 speaker and circled around it. The results from this
                 experiment demonstrate that our evolved controllers are
                 capable of transference to real vehicles. Future
                 research will include testing the best evolved
                 controllers by using them to fly real UAVs.",
  notes =        "


Genetic Programming entries for Gregory J Barlow Leonardo S Mattos Edward Grant Choong K Oh