Tham khảo tài liệu 'evolutionary robotics part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Evolutionary Distributed Control of a Biologically Inspired Modular Robot 551 Figure 7. Graph of average and maximum fitness of population against generation for the disconnected one-dimensional CA model of the robot Singular Transition Rule for Connected Leg Set In this section we extend the one-dimensional disconnected CA model by connecting modules closest to the central disc of the robot Fig. 8 thus forming a two-dimensional structure. The notion of single transition rule for all the modules is adopted for reasons described in . Furthermore the radius describing the neighborhood of a cell is set to 1 same as . Figure 8. The two-dimensional CA lattice. The arrows represent the interaction between a cell possibly located somewhere in the middle or on the edge of the lattice and its neighboring cells. Essentially the interaction is similar to the model in except modules closest to central disc interact with modules in similar position located on the neighboring leg 552 Frontiers in Evolutionary Robotics The two neighbors right R and left L for a cell at position i j in the n x m lattice is given as follows S j if j 0 and i 1 n Sli -n j if j 0 andi 1 n St j 1- m if j 0 andj 1 m . S j 1 otherwise S ifj 0 and i -1 0 i-1 J L 1 S -1 n j if j 0 and i -1 0 S j-1 otherwise 7 8 Using the same procedures and parameters described in the simulations were carried out using the revised model the results of which is shown in Fig. 9. Notably the fitness of the best chromosome discovered was comparable to that of the previous model. Figure 9. Graph of average and maximum fitness of population against generation for the two-dimensional CA model of the robot R 1 Differential Transition Rule for Connected Leg Set Building on the earlier models in this section we present the final CA model which represents the robot using a two-dimensional CA lattice as in the previous section however there are two distinct transition rules for updating the cell states in the .
