A hybrid evolutionary learning classification for robot ground pattern recognition

摘要

In the field of intelligent robot engineering, whether it is humanoid, bionic or vehicle robots, the driving forms of standing, moving and walking, and the consciousness discrimination of the environment in which they are located have always been the focus and difficulty of research. Based on such problems, Naive Bayes Classifier (NBC), Support Vector Machine(SVM), k-Nearest-Neighbor (KNN), Decision Tree (DT), Random Forest (RF) and eXtreme Gradient Boosting (XGBoost) were introduced to conduct experiments. The six individual classifiers have an obvious effect on a particular type of ground, but the overall performance is poor. Therefore, the paper proposes a “Novel Hybrid Evolutionary Learning” method (NHEL) which combines every single classifier by means of weighted voting and adopts an improved genetic algorithm (GA) to obtain the optimal weight. According to the fitness function and evolution times, this paper designs the adaptively changing crossover and mutation rate and applies the conjugate gradient (CG) to enhance GA. By making full use of the global search capabilities of GA and the fast local search ability of CG, the convergence speed is accelerated and the search precision is upgraded. The experimental results show that the performance of the proposed model is significantly better than individual machine learning and ensemble classifiers.