research-article

Towards an artificial neural network-based simulator for behavioural evolution in evolutionary robotics

Authors:

Christiaan J. Pretorius,

Mathys C. du Plessis,

Charmain B. CilliersAuthors Info & Claims

SAICSIT '09: Proceedings of the 2009 Annual Research Conference of the South African Institute of Computer Scientists and Information Technologists

Pages 170 - 178

https://doi.org/10.1145/1632149.1632171

Published: 12 October 2009 Publication History

Abstract

It is not apparent to employ an Artificial Neural Network (ANN) as simulator structure during the Evolutionary Robotics (ER) process. Consequently, the potential for the use of an ANN in this regard has been investigated in this paper. This simulator Neural Network (NN) was trained to predict changes in the position and orientation resulting from arbitrary motor commands sent to a Lego Mindstorms NXT robot moving in a two-dimensional plane. The proposed NN simulator was employed as an alternative to conventional physics-engine based simulators to evolve simple navigation behaviour in said robot and encouraging results were obtained.

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Cited By

Phillips ADu Plessis M(2021)Adaptive Navigation Strategies in Evolutionary Robotics Controllers with Location Perception2021 IEEE Congress on Evolutionary Computation (CEC)10.1109/CEC45853.2021.9504759(2499-2506)Online publication date: 28-Jun-2021
https://doi.org/10.1109/CEC45853.2021.9504759
de Villiers JCalitz AGreyling J(2020)An Evaluation of a Bootstrapped Neuro-Evolution ApproachConference of the South African Institute of Computer Scientists and Information Technologists 202010.1145/3410886.3410896(156-167)Online publication date: 14-Sep-2020
https://dl.acm.org/doi/10.1145/3410886.3410896
Phillips Adu Plessis M(2019)Towards the Incorporation of Proprioception in Evolutionary Robotics Controllers2019 Third IEEE International Conference on Robotic Computing (IRC)10.1109/IRC.2019.00041(226-229)Online publication date: Feb-2019
https://doi.org/10.1109/IRC.2019.00041
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Index Terms

Towards an artificial neural network-based simulator for behavioural evolution in evolutionary robotics

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cover image ACM Other conferences

SAICSIT '09: Proceedings of the 2009 Annual Research Conference of the South African Institute of Computer Scientists and Information Technologists

October 2009

225 pages

ISBN:9781605586434

DOI:10.1145/1632149

Conference Chair:
Barry Dwolatzky,
Program Chairs:
Jason Cohen,
Scott Hazelhurst

Copyright © 2009 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 12 October 2009

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SAICSIT '09

SAICSIT '09: 2009 Annual Conference of the South African Institute of Computer Scientists and Information Technologists

October 12 - 14, 2009

Emfuleni, Vanderbijlpark, South Africa

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Overall Acceptance Rate 187 of 439 submissions, 43%

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Cited By

Phillips ADu Plessis M(2021)Adaptive Navigation Strategies in Evolutionary Robotics Controllers with Location Perception2021 IEEE Congress on Evolutionary Computation (CEC)10.1109/CEC45853.2021.9504759(2499-2506)Online publication date: 28-Jun-2021
https://doi.org/10.1109/CEC45853.2021.9504759
de Villiers JCalitz AGreyling J(2020)An Evaluation of a Bootstrapped Neuro-Evolution ApproachConference of the South African Institute of Computer Scientists and Information Technologists 202010.1145/3410886.3410896(156-167)Online publication date: 14-Sep-2020
https://dl.acm.org/doi/10.1145/3410886.3410896
Phillips Adu Plessis M(2019)Towards the Incorporation of Proprioception in Evolutionary Robotics Controllers2019 Third IEEE International Conference on Robotic Computing (IRC)10.1109/IRC.2019.00041(226-229)Online publication date: Feb-2019
https://doi.org/10.1109/IRC.2019.00041
Woodford Gdu Plessis MTakadama K(2018)Robotic snake simulation using ensembles of artificial neural networks in evolutionary roboticsProceedings of the Genetic and Evolutionary Computation Conference10.1145/3205455.3205507(173-180)Online publication date: 2-Jul-2018
https://dl.acm.org/doi/10.1145/3205455.3205507
Welsford DPretorius Cdu Plessis M(2018)Neural Networks for Mobile Robot Inverse Kinematics2018 Eighth International Conference on Information Science and Technology (ICIST)10.1109/ICIST.2018.8426142(237-244)Online publication date: Jun-2018
https://doi.org/10.1109/ICIST.2018.8426142
Woodford Gdu Plessis MPretorius C(2017)Concurrent controller and Simulator Neural Network development for a snake-like robot in Evolutionary RoboticsRobotics and Autonomous Systems10.1016/j.robot.2016.11.01888:C(37-50)Online publication date: 1-Feb-2017
https://dl.acm.org/doi/10.1016/j.robot.2016.11.018
Pretorius CDu Plessis MGonsalves J(2017)Neuroevolution of Inverted Pendulum ControlJournal of Intelligent and Robotic Systems10.1007/s10846-017-0465-186:3-4(419-445)Online publication date: 1-Jun-2017
https://dl.acm.org/doi/10.1007/s10846-017-0465-1
Woodford GPretorius Cdu Plessis M(2016)Concurrent controller and Simulator Neural Network development for a differentially-steered robot in Evolutionary RoboticsRobotics and Autonomous Systems10.1016/j.robot.2015.10.01176:C(80-92)Online publication date: 1-Feb-2016
https://dl.acm.org/doi/10.1016/j.robot.2015.10.011
Woodford GPlessis MPretorius C(2015)Evolving Snake Robot Controllers Using Artificial Neural Networks as an Alternative to a Physics-Based Simulator2015 IEEE Symposium Series on Computational Intelligence10.1109/SSCI.2015.47(267-274)Online publication date: Dec-2015
https://doi.org/10.1109/SSCI.2015.47
Pretorius Cdu Plessis MCilliers C(2012)Simulating Robots Without Conventional Physics: A Neural Network ApproachJournal of Intelligent & Robotic Systems10.1007/s10846-012-9782-671:3-4(319-348)Online publication date: 13-Oct-2012
https://doi.org/10.1007/s10846-012-9782-6
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