대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
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- Pages.2183-2185
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- 1998
진화하는 셀룰라 오토마타를 이용한 자율이동로봇군의 행동제어
Behavior Control of Autonomous Mobile Robots using ECANS1
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이동욱
(중앙대학교 제어계측학과 로보틱스 및 지능정보시스템 연구실) ;
- 정영준 (중앙대학교 제어계측학과 로보틱스 및 지능정보시스템 연구실) ;
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심귀보
(중앙대학교 제어계측학과 로보틱스 및 지능정보시스템 연구실)
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Lee, Dong-Wook
(Robotics and Intelligent Information Lab., Chung-Ang University) ;
- Chung, Young-June (Robotics and Intelligent Information Lab., Chung-Ang University) ;
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Sim, Kwee-Bo
(Robotics and Intelligent Information Lab., Chung-Ang University)
- 발행 : 1998.07.20
초록
In this paper, we propose a method of designing neural networks using biological inspired developmental and evolutionary concept. The living things are best information processing system in themselves. One individual is developed from a generative cell. And a species of this individual have adapted itself to the environment by evolution. Ontogeny of organism is embodied in cellular automata and phylogeny of species is realized by evolutionary algorithms. The connection among cells is determined by a rule of cellular automata. In order to obtain the best neural networks in the environment, we evolve the arrangement of initial cells. The cell, that is neuron of neural networks, is modeled on chaotic neuron with firing or rest state like biological neuron. A final output of network is measured by frequency of firing state. The effectiveness of the proposed scheme is verified by applying it to navigation problem of robot.
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