Co-evolution of active sensing and locomotion gaits of simulated snake-like robot

ABSTRACT

We propose an approach of automated co-evolution of the optimal values of attributes of active sensing (orientation, range and timing of activation of sensors) and the control of locomotion gaits of simulated snake-like robot (Snakebot) that result in a fast speed of locomotion in a confined environment. The experimental results illustrate the emergence of a contactless wall-following navigation of fast sidewinding Snakebots. The wall-following is accomplished by means of differential steering, facilitated by the evolutionary defined control sequences incorporating the readings of evolutionary optimized sensors.

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INDEX TERMS

Primary Classification:
  G. Mathematics of Computing
  G.1 NUMERICAL ANALYSIS
      G.1.6 Optimization
          Subjects: Global optimization

Additional Classification:
  J. Computer Applications
  J.2 PHYSICAL SCIENCES AND ENGINEERING
      Subjects: Physics

General Terms:
Algorithms, Design

Keywords:
active sensing, genetic programming, locomotion, navigation, snakebot