Evolution of a Subsumption Architecture that Performs a Wall Following Task for an Autonomous Mobile Robot via Genetic Programming

摘要

The goal in automatic programming is to get a computer to perform a task by telling it what needs to be done, rather than by explicitly programming it. This paper considers the task of automatically generating a computer program to enable an autonomous mobile robot to perform the task of following the wall of an irregular shaped room. A human programmer has written such a program in the style of the subsumption architecture. The solution produced by genetic programming emerges as a result of Darwinian natural selection and genetic crossover (sexual recombination) in a population of computer programs. This evolutionary process is driven by a fitness measure which communicates the nature of the task to the computer. 1