TY - GEN
T1 - Evolving counter-propagation neuro-controllers for multi-objective robot navigation
AU - Moshaiov, Amiram
AU - Zadok, Michael
PY - 2013
Y1 - 2013
N2 - This study follows a recent investigation on evolutionary training of counter-propagation neural-networks for multi-objective robot navigation in various environments. Here, in contrast to the original study, the training of the counter-propagation networks is done using an improved two-phase algorithm to achieve tuned weights for both classification of inputs and the control function. The proposed improvement concerns the crossover operation among the networks, which requires special attention due to the classification layer. The numerical simulations, which are reported here, suggest that both the current and original algorithms are superior to the classical approach of using a feed-forward network. It is also observed that the current version has better convergence properties as compared with the original one.
AB - This study follows a recent investigation on evolutionary training of counter-propagation neural-networks for multi-objective robot navigation in various environments. Here, in contrast to the original study, the training of the counter-propagation networks is done using an improved two-phase algorithm to achieve tuned weights for both classification of inputs and the control function. The proposed improvement concerns the crossover operation among the networks, which requires special attention due to the classification layer. The numerical simulations, which are reported here, suggest that both the current and original algorithms are superior to the classical approach of using a feed-forward network. It is also observed that the current version has better convergence properties as compared with the original one.
UR - http://www.scopus.com/inward/record.url?scp=84875682038&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-37192-9_59
DO - 10.1007/978-3-642-37192-9_59
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AN - SCOPUS:84875682038
SN - 9783642371912
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 589
EP - 598
BT - Applications of Evolutionary Computation - 16th European Conference, EvoApplications 2013, Proceedings
PB - Springer Verlag
T2 - 16th European Conference on Applications of Evolutionary Computation, EvoApplications 2013
Y2 - 3 April 2013 through 5 April 2013
ER -