Evolving Controllers for a Transformable Wheel Mobile Robot
Unmanned ground vehicles (UGVs) are well suited to tasks that are either too dangerous or too monotonous for people. For example, UGVs can traverse arduous terrain in search of disaster victims. However, it is difficult to design these systems so that they perform well in a variety of different envi...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/7692042 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850214696974548992 |
|---|---|
| author | Anthony J. Clark Keith A. Cissell Jared M. Moore |
| author_facet | Anthony J. Clark Keith A. Cissell Jared M. Moore |
| author_sort | Anthony J. Clark |
| collection | DOAJ |
| description | Unmanned ground vehicles (UGVs) are well suited to tasks that are either too dangerous or too monotonous for people. For example, UGVs can traverse arduous terrain in search of disaster victims. However, it is difficult to design these systems so that they perform well in a variety of different environments. In this study, we evolve controllers and physical characteristics of a UGV with transformable wheels to improve its mobility in a simulated environment. The UGV’s mission is to visit a sequence of coordinates while automatically handling obstacles of varying sizes by extending wheel struts radially outward from the center of each wheel. Evolved finite state machines (FSMs) and artificial neural networks (ANNs) are compared, and a set of controller design principles are gathered from analyzing these experiments. Results show similar performance between FSM and ANN controllers but differing strategies. Finally, we show that a UGV’s controller and physical characteristics can be effectively chosen by examining results from evolutionary optimization. |
| format | Article |
| id | doaj-art-800d8d681fff4d40be64c52d8fc48809 |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-800d8d681fff4d40be64c52d8fc488092025-08-20T02:08:49ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/76920427692042Evolving Controllers for a Transformable Wheel Mobile RobotAnthony J. Clark0Keith A. Cissell1Jared M. Moore2Missouri State University, Springfield, Missouri, USAMissouri State University, Springfield, Missouri, USAGrand Valley State University, Allendale, Michigan, USAUnmanned ground vehicles (UGVs) are well suited to tasks that are either too dangerous or too monotonous for people. For example, UGVs can traverse arduous terrain in search of disaster victims. However, it is difficult to design these systems so that they perform well in a variety of different environments. In this study, we evolve controllers and physical characteristics of a UGV with transformable wheels to improve its mobility in a simulated environment. The UGV’s mission is to visit a sequence of coordinates while automatically handling obstacles of varying sizes by extending wheel struts radially outward from the center of each wheel. Evolved finite state machines (FSMs) and artificial neural networks (ANNs) are compared, and a set of controller design principles are gathered from analyzing these experiments. Results show similar performance between FSM and ANN controllers but differing strategies. Finally, we show that a UGV’s controller and physical characteristics can be effectively chosen by examining results from evolutionary optimization.http://dx.doi.org/10.1155/2018/7692042 |
| spellingShingle | Anthony J. Clark Keith A. Cissell Jared M. Moore Evolving Controllers for a Transformable Wheel Mobile Robot Complexity |
| title | Evolving Controllers for a Transformable Wheel Mobile Robot |
| title_full | Evolving Controllers for a Transformable Wheel Mobile Robot |
| title_fullStr | Evolving Controllers for a Transformable Wheel Mobile Robot |
| title_full_unstemmed | Evolving Controllers for a Transformable Wheel Mobile Robot |
| title_short | Evolving Controllers for a Transformable Wheel Mobile Robot |
| title_sort | evolving controllers for a transformable wheel mobile robot |
| url | http://dx.doi.org/10.1155/2018/7692042 |
| work_keys_str_mv | AT anthonyjclark evolvingcontrollersforatransformablewheelmobilerobot AT keithacissell evolvingcontrollersforatransformablewheelmobilerobot AT jaredmmoore evolvingcontrollersforatransformablewheelmobilerobot |