Behavior generation for a mobile robot based on the adaptive fitness function

We have to prepare the evaluation (fitness) function to evaluate the performance of the robot when we apply the machine learning techniques to the robot application. In many cases, the fitness function is composed of several aspects. Simple implementation to cope with the multiple fitness function is a weighted summation. This paper presents an adaptive fitness function for the evolutionary computation to obtain the purposive behaviors through changing the weights for the fitness function. As an example task, a shooting behavior in a simplified soccer game is selected to show the validity of the proposed method. Simulation results and real experiments are shown, and a discussion is given.

• Type: Journal
• Year: 2002
• Where: RAS
• Authors: Eiji Uchibe, Masakazu Yanase, Minoru Asada
• Keywords: Adaptive Fitness Function, Fitness Function, Multiple Fitness Function, RAS 2002