Paper:
Language: English:

Evolutionary Strategy Using Statistical Information and Its Application to Mobile Robot Control

Kiyotaka Izumi^, Keigo Watanabe^, and M.M.A. Hashem^

^Department of Mechanical Engineering, Faculty of Science and Engineering,
^Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering,
^Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University 1-Honjomachi, Saga 840-8502, Japan

Received: June 23, 1998

Accepted: November 30, 1998

Keywords: Evolutionary computation, Evolution strategy, Fuzzy control, Fuzzy behavior-based control, Omnidirectional mobile robot

Journal ref: Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.3, No.2 pp. 75-81, 1999

Abstract

We describe an evolution strategy (ES) using the statistical information of subgroups obtained automatically by a similarity metric of individuals at each generation. Arithmetical crossover is done with an elite individual and a mean individual within each subgroup to produce offspring. Standard deviation calculated within a subgroup is used in mutation. The effectiveness of the proposed ES is first shown with tests of the 5 De Jong functions. The present ES is also applied to the acquisition of control for a terminal control problem in an omnidirectional mobile robot, in which robot control is based on fuzzy behavior-based control that combines subsumption-like architecture and fuzzy reasoning.

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