A Genetic Algorithm for Flexible Robotic Planning
|Forfattere||Kai Olav Ellefsen|
|Publikasjon||Norwegian Artificial Intelligens Symposium (NAIS)|
|Redaktør||Şule Yildirim, Anders Kofod-Petersen|
|Utgiver||Tapir Akademisk Forlag|
|Adresse utgiver||Besøksadresse: Tapir Akademisk Forlag Nardoveien 12, Trondheim Postadresse: Tapir Akademisk Forlag Postboks 2461 Sluppen 7005 Trondheim|
AbstraktAbstract-This paper describes a genetic algorithm that was developed for optimizing plans in a robotic competition. The algorithm was used both as a static planner, making plans before matches, and as a dynamic replanner during matches, a task with much stricter demands of efficiency. The genetic algorithm was hybridized with a local search technique, which experiments proved essential to finding good solutions in this complex task. To enable rapid response under environmental changes, a heuristic for immediate response and a contingency planning module were also implemented. Experiments showed that the algorithm was able to handle a changing environment by revising its plan, but no conclusive results were obtained about the importance of contingency planning in this process.
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