NDLI: Adaptive FPGA-based robotics state machine architecture derived with genetic algorithms (abstract only)

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Adaptive FPGA-based robotics state machine architecture derived with genetic algorithms (abstract only)

Content Provider	ACM Digital Library
Author	Kuri-Morales, Angel Savage, Jesus Morales-Aguirre, Marco Savage, Rodrigo
Abstract	This paper discusses how to generate mobile robots' behaviors using genetic algorithms, GA. The behaviors are built using state machines implemented in a programmable logic device, an FPGA, and they are encoded in such a way that a state machine architecture executes them, controlling the overall operation of a small mobile robot. The behaviors generated by the GA are evaluated according to a fitness function that grades their performance. Basically, the fitness function evaluates the robot's performance when it goes from an origin to a destination. In our approach each individuals' chromosome represents, given a set of inputs coming from the sensors and the current state, the next state and outputs that controls the robot's movements. For each generation the GA needs to evaluate population's individuals, doing this with the real robot it would required to much time, that would be impossible to do. Thus, the GA needs a simulator, as close as it can be to the real robot and its environment. The simulator gets the individuals' chromosomes and executes the algorithm state machine represented by them, it simulates the movements of the robot depending of the output generated in the present state and the simulated robot's sensors. Our objective was to prove that GA is a good option as a method for finding behaviors for mobile robots' navigation and also that these behaviors can be implemented in FPGAs.
Starting Page	267
Ending Page	267
Page Count	1
ISBN	9781450311557
DOI	10.1145/2145694.2145746
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2012-02-22
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Robots behaviors Genetic algorithms
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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