Evolutionary design of behavior for mobile robot using multi-objective genetic programming

Manabu Hashimoto, Yasutaka Tsuji, Eiji Kondo

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1 Citation (Scopus)


This paper describes an evolutionary approach to design a mobile robot behavior using multi-objective genetic programming. Genetic programming (GP) has a tendency to create programs with unnecessarily large size. This problem in GP is called bloat and increases computational efforts. We introduce a multi-objective optimization technique to GP as a mean of controlling bloat, where a program size is treated as an independent objective besides another objective (fitness) and the modified domiance relation is used in evolutionary Pareto optimization. The proposed multi-objective GP can not only reduce bloat, but also avoid the problem of over-learning often found when applying GP to a behavior design of robots. The effectiveness of the proposed GP is demonstrated through the simulation and the real-world experiment using Khepera robot.

Original languageEnglish
Pages (from-to)3236-3243
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number11
Publication statusPublished - Nov 2004

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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