Neuro-Evolution of Mobile Robot Controller

Abstract

We present a neuro-evolution design for control of a mobile robot in 2D simulation environment. The mobile robot is moving in unknown environment with obstacles from the start position to the goal position. The trajectory of the robot is controlled by a neural network – based controller which inputs are information from several laser beam sensors. The learning of the neural network controller is based on an evolutionary approach, which is provided by genetic algorithm.

Keywords

• mobile robot
• 2D environment
• neural network
• evolutionary-based learning
• genetic algorithm