Tham khảo tài liệu 'evolutionary robotics part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 432 Frontiers in Evolutionary Robotics Incremental step 1 400000 ---- ự 300000 . . K 200000 -. 100000 -. 0 H----1-1--1--1--1--1--1--1--1--1--1-- 0 2 4 6 8 10 12 generation Incremental step 2 400000 300000 200000 100000 0 0 4 8 12 16 20 24 generation Incremental step 3 Incremental step 5 geom generation Incremental step 4 1200000 1----------------- ---- ------ ỰỊ 900000 . . K 600000 - . . c 300000 . 0 H--1---1-1---1-1---1-1---1--1-1--- 1 5 9 13 17 21 generation Incremental step 5 worst 2000000 -1 i w 1500000 - . K 1000000 -. c 500000 -. 0 -I-T----T-T--T-T-T--T-----T--T--T--- 0 2 4 6 8 10 12 generation Incremental step 6 1250000 1000000 tn 750000 Ị ế 500000 250000 0 I-----1-1-1--1-1--1----1-1--1-1-1-1-- 0 10 20 30 40 50 60 70 generation Figure 16. Best fitness for all incremental steps averaged 10 runs creative incremental scenario. In the incremental step5 geom the assigned fitnessis geometric mean of fitness achieved from the three different starting locations. This step was followed by 5 worst where the assigned fitness is the worst fitness achieved in the three starting locations Evolving Behavior Coordination for Mobile Robots using Distributed Finite-State Automata 433 Figure17. Example of a manually designed FSA coordination for the line-follower module mn pZmn-i best fitnesSi - best fitnesSi-1 2 where best fitness is the fitness of the bestindividual in population t p is a constant we used cp andfflo is initialized to Ỵbestfitnesso. Simulation Simulations in ER are more complex than usual because we simulate the behavior of a robot in its environment as contrasted to a simulation of some process that is an integral part of the simulated environment. The behavior of robot depends not only on the physical processes in the environment but also on its own actions generated by its program . there are two simultaneous systems to be simulated. The simulation of the robot controller can be performed through direct emulation of the robot hardware os
