Better Living Through Chemistry: Evolving GasNets for Robot Control
作者:
Phil Husbands,
Tom Smith,
Nick Jakobi,
Michael O'Shea,
期刊:
Connection Science
(Taylor Available online 1998)
卷期:
Volume 10,
issue 3-4
页码: 185-210
ISSN:0954-0091
年代: 1998
DOI:10.1080/095400998116404
出版商: Taylor & Francis Group
关键词: Artificial Neural Network;Diffusible Modulator;Evolutionary Robotics;Gasnet
数据来源: Taylor
摘要:
This paper introduces a new type of artificial neural network (GasNets) and shows that it is possible to use evolutionary computing techniques to find robot controllers based on them. The controllers are built from networks inspired by the modulatory eff ects of freely diff using gases, especially nitric oxide, in real neuronal networks. Evolutionary robotics techniques were used to develop control networks and visual morphologies to enable a robot to achieve a target discrimination task under very noisy lighting conditions. A series of evolutionary runs with and without the gas modulation active demonstrated that networks incorporating modulation by diff using gases evolved to produce successful controllers considerably faster than networks without this mechanism. GasNets also consistently achieved evolutionary success in far fewer evaluations than were needed when using more conventional connectionist style networks.
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