Automatic Programming of a Time-Optimal Robot Controller and an Analog Electrical Circuit to Implement the Robot Controller by Means of Genetic Programming

  • Authors:

  • John R. Koza;Forrest H. Bennett, III;Martin A. Keane;David Andre

  • Affiliations:

  • -;-;-;-

  • Venue:
  • CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
  • Year:
  • 1997

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Abstract

Genetic programming is an automatic programming technique that evolves computer programs to solve, or approximately solve, problems. This paper presents two examples in which genetic programming creates a computer program for controlling a robot so that the robot moves to a specified destination point in minimal time. In the first approach, genetic programming evolves a computer program composed of ordinary arithmetic operations and conditional operations to implement a time- optimal control strategy. In the second approach, genetic programming evolves the design of an analog electrical circuit consisting of transistors, diodes, resistors, and power supplies to implement a near-optimal control strategy.