- author = "Miha Kovacic and Miran Brezocnik and Joze Balic",
- title = "Genetic Programming Approach for Autonomous Vehicles",
- booktitle = "Mechatronics 2004 9th Mechatronics Forum International Conference",
- year = "2004",
- address = "METU, Ankara, Turkey",
- month = "30 " # aug # "-1 " # sep,
- organisation = "Atilim University",
- keywords = "genetic algorithms, genetic programming",
-
URL = "
http://mechatronics.atilim.edu.tr/mechatronics2004/papers/Mechatronics2004_Abstract_026.pdf",
- size = "1 page",
-
abstract = "GP was used for intelligent path planning of an
autonomous vehicle in 2D production environment. Robot
had to find loads, to avoid all the obstacles and to
reach the target point. The production environment
(robot, loads and obstacles) are represented as free 2D
shapes. The robot discretely rotates for 30 degrees
left and right and moves forward by two different
steps. Step decreases if the sensor detects the load or
obstacle. The GP system tries to find gradually optimal
program for robot navigation through production
environment as a consequence of interactions between
the robot and detected environment. Program for
navigation can be randomly constructed of logical
operators (IFLOAD, IF-OBSTACLE), basic commands (MOVE,
RIGHT, LEFT), and connection functions (CF2, CF3).
Each program is run several times until 100 time units for the robot's task are used or the target point is reached. The system for genetic programming was run 50-times. Robot travelled safely with all collected loads to the target point 2-times, which means that the probability of the finding successful navigation program is 4 percent. In future the researches will be oriented particularly towards conceiving an improved GP system with the possibility of use 3D models of the production environment. Preliminary results of the concept are encouraging.",
- notes = "University of Maribor, Faculty of Mechanical Engineering, Maribor, Slovenia",
