Adaptation in natural and artificial systems
Adaptation in natural and artificial systems
Automatic creation of an autonomous agent: genetic evolution of a neural-network driven robot
SAB94 Proceedings of the third international conference on Simulation of adaptive behavior : from animals to animats 3: from animals to animats 3
VHDL: Analysis and Modeling of Digital Systems
VHDL: Analysis and Modeling of Digital Systems
Design of an FPGA Based Adaptive Neural Controller for Intelligent Robot Navigation
DSD '02 Proceedings of the Euromicro Symposium on Digital Systems Design
ICPP '94 Proceedings of the 1994 International Conference on Parallel Processing - Volume 02
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This article describes an FPGA (Field Programmable Gate Array) based hardware implementation of a genetic controller to be applied for the evolution of an Artificial Neural Network (ANN) [3] for collision-free navigation task of mobile robots. The adaptive nature of ANN enables it to train itself while the robot interacts with the environment. In addition to online training, the genetic evolution in neuron bits will be examined in an experiment to understand the interaction between evolution and lifetime adaptation of the ANN. The concept of chromosome for navigation task, design techniques of various blocks inside the GA controller will be elaborately described here.