The document discusses using genetic algorithms to control a robot. It proposes representing the robot's behaviors as chromosomes and using a genetic algorithm to evolve effective behaviors over generations. The behaviors are evaluated based on their ability to navigate toward a target location while avoiding obstacles. Testing in different simulated environments showed that a genetic algorithm could evolve behaviors that guide the robot along near-optimal paths to reach its target.

1. Algoritmos Genéticos aplicados em Machine Learning Controle de um Robo (em inglês)

2. Robot Control using Genetic Algorithms

7. Simulator Readings: sensors, position and angle S0-S7: [0, 1023] obstacle not obstacle very detected closed 1000 1000 X Y Robot’s World angle of the robot with the world  : [-  ,  ] x y 0

9. Controller Model Genetic Algorithm evolves robot’s attitudes Sensors Position Robot’s Angle Goal Location Motor 2 Motor 1 Khepera Simulator

10. Proposed Model based on human behavior IF Obstacle detected THEN Avoid collision, forget target ELSE S traight to the target according to the target direction END

11. Sensors Reading Simplification

12. Determining the Target Direction Direction =

15. Chromosome Representation Which speed should be imposed to each motor in each situation the robot is?

23. Improving the Target Direction Model 4 possible target directions 0  /4  /2 3  /4  /2 -3  /4 -  /4 -  /2 8 possible target directions

24. Chromosome Representations

26. Genetic Algorithm Performance 7 Genes Chromosome

27. Genetic Algorithm Performance 7 Genes Chromosome

28. Genetic Algorithm Performance 11 Genes Chromosome

29. Genetic Algorithm Performance 11 Genes Chromosome

30. Paths Achieved in World 1 Case Study 1 7 Genes Chromosome 11 Genes Chromosome

31. Paths Achieved in World 1 Case Study 2 7 Genes Chromosome 11 Genes Chromosome

32. Speed Comparison 11 Genes Chromosome 7 Genes Chromosome

33. Paths Achieved in World 2 Case Study 1 7 Genes Chromosome 11 Genes Chromosome

34. Paths Achieved in World 2 Case Study 2 7 Genes Chromosome 11 Genes Chromosome

35. Speed Comparison 11 Genes Chromosome 7 Genes Chromosome

36. Speed Comparison (%) Case Study 1 Case Study 2 Case Study 3

37. Paths Achieved in World 3 Case Study 1 7 Genes Chromosome 11 Genes Chromosome

38. Paths Achieved in World 3 Case Study 2 7 Genes Chromosome 11 Genes Chromosome

39. Paths Achieved in World 3 Case Study 3 7 Genes Chromosome 11 Genes Chromosome

40. Paths Achieved in World 3 Case Study 4 7 Genes Chromosome 11 Genes Chromosome

41. Speed Comparison