Generating Reactive Robots’ Behaviors using Genetic Algorithms

Jesus Savage, Stalin Muñoz, Luis Contreras, Mauricio Matamoros, Marco Negrete, Carlos Rivera, Gerald Steinbabuer, Oscar Fuentes, Hiroyuki Okada

Abstract

In this paper, we analize and benchmark three genetically-evolved reactive obstacle-avoidance behaviors for mobile robots. We buit these behaviors with an optimization process using genetic algorithms to find the one allowing a mobile robot to best reactively avoid obstacles while moving towards its destination. We compare three approaches, the first one is a standard method based on potential fields, the second one uses on finite state machines (FSM), and the last one relies on HMM-based probabilistic finite state machines (PFSM). We trained the behaviors in simulated environments to obtain the optimizated behaviors and compared them to show that the evolved FSM approach outperforms the other two techniques.

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Paper Citation


in Harvard Style

Savage J., Muñoz S., Contreras L., Matamoros M., Negrete M., Rivera C., Steinbabuer G., Fuentes O. and Okada H. (2021). Generating Reactive Robots’ Behaviors using Genetic Algorithms.In Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-484-8, pages 698-707. DOI: 10.5220/0010229306980707


in Bibtex Style

@conference{icaart21,
author={Jesus Savage and Stalin Muñoz and Luis Contreras and Mauricio Matamoros and Marco Negrete and Carlos Rivera and Gerald Steinbabuer and Oscar Fuentes and Hiroyuki Okada},
title={Generating Reactive Robots’ Behaviors using Genetic Algorithms},
booktitle={Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2021},
pages={698-707},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010229306980707},
isbn={978-989-758-484-8},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Generating Reactive Robots’ Behaviors using Genetic Algorithms
SN - 978-989-758-484-8
AU - Savage J.
AU - Muñoz S.
AU - Contreras L.
AU - Matamoros M.
AU - Negrete M.
AU - Rivera C.
AU - Steinbabuer G.
AU - Fuentes O.
AU - Okada H.
PY - 2021
SP - 698
EP - 707
DO - 10.5220/0010229306980707