This paper presents an integrated on line learning system to evolve programmable logic array (PLA) controllers for navigating an autonomous robot in a two dimensional environment. The integrated on line learning sy...This paper presents an integrated on line learning system to evolve programmable logic array (PLA) controllers for navigating an autonomous robot in a two dimensional environment. The integrated on line learning system consists of two learning modules: one is the module of reinforcement learning based on temporal difference learning based on genetic algorithms, and the other is the module of evolutionary learning based on genetic algorithms. The control rules extracted from the module of reinforcement learning can be used as input to the module of evolutionary learning, and quickly implemented by the PLA through on line evolution. The on line evolution has shown promise as a method of learning systems in complex environment. The evolved PLA controllers can successfully navigate the robot to a target in the two dimensional environment while avoiding collisions with randomly positioned obstacles.展开更多
Based on the theories of EA （Evolutionary Algorithm） and EHW （Evolvable Hardware）, we devise an EHW based software-hardware co designing platform ECDP, on which we provided standards for hardware system encoding a...Based on the theories of EA （Evolutionary Algorithm） and EHW （Evolvable Hardware）, we devise an EHW based software-hardware co designing platform ECDP, on which we provided standards for hardware system encoding and evolving operation designing, as well as circuit emulating tools. The major features of this system are： two layer-encoding of circuit structure, off-line evolving with software cmulation and the evolving of genetic program designing. With this system, we implemented the auto designing of sonic software-hardware systems, like the random number generator.展开更多
Recently there has been great interest in the idea that evolvable system based on the principle of artifcial intelligence can be used to continuously and autonomously adapt the behaviour of physically embedded systems...Recently there has been great interest in the idea that evolvable system based on the principle of artifcial intelligence can be used to continuously and autonomously adapt the behaviour of physically embedded systems such as autonomous mobile robots and intelligent home devices. Meanwhile, we have seen the introduction of evolvable hardware(EHW): new integrated electronic circuits that are able to continuously evolve to adapt the chages in the environment implemented by evolutionary algorithms such as genetic algorithm(GA) and reinforcement learning. This paper concentrates on developing a robotic navigation system whose basic behaviours are obstacle avoidance and light source navigation. The results demonstrate that the intrinsic evolvable hardware system is able to create the stable robotiiuc behaviours as required in the real world instead of the traditional hardware systems.展开更多
文摘This paper presents an integrated on line learning system to evolve programmable logic array (PLA) controllers for navigating an autonomous robot in a two dimensional environment. The integrated on line learning system consists of two learning modules: one is the module of reinforcement learning based on temporal difference learning based on genetic algorithms, and the other is the module of evolutionary learning based on genetic algorithms. The control rules extracted from the module of reinforcement learning can be used as input to the module of evolutionary learning, and quickly implemented by the PLA through on line evolution. The on line evolution has shown promise as a method of learning systems in complex environment. The evolved PLA controllers can successfully navigate the robot to a target in the two dimensional environment while avoiding collisions with randomly positioned obstacles.
基金Supported by the National 863 Project(2002AA1Z1490)
文摘Based on the theories of EA （Evolutionary Algorithm） and EHW （Evolvable Hardware）, we devise an EHW based software-hardware co designing platform ECDP, on which we provided standards for hardware system encoding and evolving operation designing, as well as circuit emulating tools. The major features of this system are： two layer-encoding of circuit structure, off-line evolving with software cmulation and the evolving of genetic program designing. With this system, we implemented the auto designing of sonic software-hardware systems, like the random number generator.
文摘Recently there has been great interest in the idea that evolvable system based on the principle of artifcial intelligence can be used to continuously and autonomously adapt the behaviour of physically embedded systems such as autonomous mobile robots and intelligent home devices. Meanwhile, we have seen the introduction of evolvable hardware(EHW): new integrated electronic circuits that are able to continuously evolve to adapt the chages in the environment implemented by evolutionary algorithms such as genetic algorithm(GA) and reinforcement learning. This paper concentrates on developing a robotic navigation system whose basic behaviours are obstacle avoidance and light source navigation. The results demonstrate that the intrinsic evolvable hardware system is able to create the stable robotiiuc behaviours as required in the real world instead of the traditional hardware systems.
