TY - JOUR
T1 - Genetic network programming with reinforcement learning and its application to making mobile robot behavior
AU - Mabu, Shingo
AU - Hatakeyamay, Hiroyuki
AU - Thu, Moe Thu
AU - Hirasawa, Kotaro
AU - Hu, Jinglu
PY - 2006
Y1 - 2006
N2 - A new graph-based evolutionary algorithm called "Genetic Network Programming, GNP" has been proposed. The solutions of GNP are represented as graph structures, which can improve the expression ability and performance. In addition, GNP with Reinforcement Learning (GNP-RL) has been proposed to search for solutions efficiently. GNP-RL can use current information (state and reward) and change its programs during task execution. Thus, it has an advantage over evolution-based algorithms in case much information can be obtained during task execution. The GNP we proposed in the previous research deals with discrete information, but in this paper, we extend the conventional GNP-RL which can deal with numerical information. The proposed method is applied to the controller of Khepera simulator and its performance is evaluated.
AB - A new graph-based evolutionary algorithm called "Genetic Network Programming, GNP" has been proposed. The solutions of GNP are represented as graph structures, which can improve the expression ability and performance. In addition, GNP with Reinforcement Learning (GNP-RL) has been proposed to search for solutions efficiently. GNP-RL can use current information (state and reward) and change its programs during task execution. Thus, it has an advantage over evolution-based algorithms in case much information can be obtained during task execution. The GNP we proposed in the previous research deals with discrete information, but in this paper, we extend the conventional GNP-RL which can deal with numerical information. The proposed method is applied to the controller of Khepera simulator and its performance is evaluated.
KW - Evolutionary Computation
KW - Genetic Network Programming
KW - Khepera robot
KW - Reinforcement Learning
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U2 - 10.1541/ieejeiss.126.1009
DO - 10.1541/ieejeiss.126.1009
M3 - Article
AN - SCOPUS:33746867121
SN - 0385-4221
VL - 126
SP - 1009
EP - 1015
JO - IEEJ Transactions on Electronics, Information and Systems
JF - IEEJ Transactions on Electronics, Information and Systems
IS - 8
ER -