Tham khảo tài liệu 'evolutionary robotics part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 392 Frontiers in Evolutionary Robotics 5. Conclusion The Fly Algorithm embedded in a CyCab is able to detect obstacles and to compute stop go and direction controls accordingly in real time. That is largely due to the optimisation of the efficiency conducted in section 3. It is also due to the fact that we have voluntarily stayed close to the natural output of the algorithm - a cloud of 3-D points - and have used it directly without any prior processing. The control strategies tested are very simple and may be improved. Future work includes speeding up the frame processing using CMOS sensors - which may be well adapted to the computation of the fitness of the flies - instead of CCD and to increase the speed using FPGA in the evaluation part of the evolutionary algorithm. Concerning the algorithmic part we could consider adapting dynamically the search space according to the application or the conditions . the speed of the robot . Other ways to enhance the algorithm could be to change the set of parameters during the convergence period a bit like Simulated Annealing and to change the paradigm at the moment use a lot of very simple features here 3D-points and to use more complex features with dynamics adapted to the use. This is then closer to swarm work. But it could also offer a better interaction with more classical obstacle detection classification use the Fly Algorithm to detect region of interest within which dedicated algorithm would refine the detection. An open problem is then can we also use this detection to enhance the Fly Algorithm runs 6. References Boumaza A. Louchet J. 2001 . Dynamic Flies Using Real-Time Parisian Evolution in Robotics Proceedings of EVOIASP 01 Lake Como Italy April 2001 Boumaza A. Louchet J. 2003 . Robot Perception Using Flies. Proceedings of SETIT 03 Sousse Tunisia March 2003 Collet P. Lutton E. Raynal F. Schoenauer M. 1999 . Individual GP an Alternative Viewpoint for the Resolution of Complex Problems. Proceedings of GECCO 99 .
