Morphogenesis of path plan sequences through genetic synthesis of L-system productions

Author

Schaefer, Carl G., Jr.

Author_Institution

Sch. of Inf. Technol. & Eng., George Mason Univ., Fairfax, VA, USA

Volume

1

fYear

1999

fDate

1999

Abstract

A genetic programming paradigm using Lindenmayer system re-writing grammars is proposed as a means of specifying robot behaviors for autonomous navigation of mobile robots in uncertain environments. The concise nature of these algorithms and their inherent expansion capabilities hold promise as a method of overcoming communication bandwidth and time-of-flight limitations in the transmission of navigation, guidance, and control algorithms of planetary rovers. Though preliminary, the results of this early research show much promise as a viable programming technique for evolutionary robotics and embedded systems

Keywords

genetic algorithms; mobile robots; navigation; path planning; planetary rovers; rewriting systems; spatial reasoning; uncertainty handling; L-system productions; Lindenmayer system re-writing grammars; Mars Pathfinder Rover; Sojourner; autonomous mobile planetary explorers; autonomous navigation; communication bandwidth; control algorithms; embedded systems; evolutionary robotics; genetic programming; genetic synthesis; guidance; mobile robots; navigation; path plan sequences; planetary rovers; robot behaviors; time-of-flight limits; uncertain environments; Bandwidth; Communication system control; Control systems; Genetic programming; Mobile communication; Mobile robots; Navigation; Path planning; Production; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Evolutionary Computation, 1999. CEC 99. Proceedings of the 1999 Congress on

Conference_Location

Washington, DC

Print_ISBN

0-7803-5536-9

Type

conf

DOI

10.1109/CEC.1999.781947

Filename

781947