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| Undergraduate Honours Projects | ||||||
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Carleton University - School of Computer Science Undergraduate Honours Project Winter 2011 Moving Miniature Robot with Persistent Memory using Genetic Programming Jimin Park 
ABSTRACT This paper extends the evolutionary approach to robotic control using genetic programming by adding the memory feature to the robot. A simulation of the robot and its environment was constructed using Java where the behavior of the robot with and without the memory is compared. In order to supply the memory capability, additional persistent memories were given to the robot. These were also added to the genetic programming as additional terminals to allow the robot to store and retrieve values in them. The actual fitness of the robot was determined by rewarding any forward movements and new areas covered while penalizing for getting close to any obstacles. The statistical analysis of the final results shows that the robot with the memory (fitness mean: 57880) was almost three times better than the robot without the memory (fitness mean: 20898). |
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