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Robot Mission Planning using Co-evolutionary Optimization

Published online by Cambridge University Press:  04 June 2019

Kala Rahul Open the ORCID record for Kala Rahul [Opens in a new window]
Kala Rahul*
Affiliation:
Robotics and Machine Intelligence Laboratory, Indian Institute of Information Technology, Allahabad, India
*
*Corresponding author. E-mail: [email protected]
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Summary

Mission planning is a complex motion planning problem specified by using Temporal Logic constituting of Boolean and temporal operators, typically solved by model verification algorithms with an exponential complexity. The paper proposes co-evolutionary optimization thus building an iterative solution to the problem. The language for mission specification is generic enough to represent everyday missions, while specific enough to design heuristics. The mission is broken into components which cooperate with each other. The experiments confirm that the robot is able to outperform the search, evolutionary and model verification techniques. The results are demonstrated by using a Pioneer LX robot.

Keywords

Evolutionary roboticsRobot motion planningMission planningCooperative coevolutionGenetic algorithm
Type
Articles
Information
Robotica , Volume 38 , Issue 3 , March 2020 , pp. 512 - 530
Copyright
© Cambridge University Press 2019 

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