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GENETIC PROGRAMMING OFFUZZY COORDINATION BEHAVIORS FOR MOBILE

Intelligent robot navigation can be achieved using a control system comprised of a collection of special-purpose motion routines, or behaviors. An approach to behavior coordination in multi-behavior systems is described with emphasis on evolution of fuzzy coordination rules using the genetic programming (GP) paradigm. Both conventional GP and steady-state GP are applied to evolve a fuzzy-behavior for sensor-based goal-seeking to be used in a hierarchical fuzzy navigation controller. The usefulness of GP is demonstrated by simulating performance of evolved coordination rules for autonomous navigation.