Evolutionary Re-Adaptation of Neurocontrollers in Changing Environments

Abstract

Evolutionary robotics is an interesting novel approach to shape the control system of autonomous robots. This explores issues related to readaptation in changed environments of a population of evolved individuals. Experimental studies are reported for genetic evolution of neurocontrollers that have developed the ability to perform homing navigation for battery recharge of miniature mobile robot. It is shown that re-adaptation to important changes in the environment isvery rapid and does not disrupt previously acquired knowledge. The results are discussed in relation to the internal representation of the neurocontroller and to the variability within the population. 1 Evolutionary Shaping of Autonomous Robots An autonomous robot can be seen as an arti cial organism capable of selforganising its own behaviour according to environmental constraints in order to maintain its own viability without human intervention. In recent years, the