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Analysis and implementation of an Artificial Homeostatic Hormone System : A first case study in robotic hardware

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2009

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Stradner, Jurgen
Schmickl, Thomas
Crailsheim, Karl

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https://doi.org/10.1109/IROS.2009.5354056
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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE, 2009, pp. 595-600. ISSN 2153-0858. eISSN 2153-0866. ISBN 978-1-4244-3803-7. Available under: doi: 10.1109/IROS.2009.5354056

Zusammenfassung

One of the prominent challenges in mobile robotics is to develop control methodologies that allow the adaptation to dynamic and unforeseen environments. The classic approach of hand-coded controllers is very efficient for well-defined tasks and specific environments but poor in adapting to changing environmental conditions. One alternative approach is the application of evolutionary algorithms which need, in turn, easily evolvable representations of controllers. In this paper, we investigate one promising approach of an artificial hormone system as a control paradigm which is believed to be easily optimized by evolutionary processes. In a first step of this research, we focus on the simple task of collision avoidance. We present a brief mathematical analysis of this controller approach and an implementation of the controller on a mobile robot to check the feasibility in principle of our approach. The task is successfully accomplished and we conclude with a discussion of the hormone dynamics in the robot.

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IROS 2009 : IEEE/RSJ International Conference on Intelligent Robots and Systems, 10. Okt. 2009 - 15. Okt. 2009, St. Louis, MO, USA
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ISO 690STRADNER, Jurgen, Heiko HAMANN, Thomas SCHMICKL, Karl CRAILSHEIM, 2009. Analysis and implementation of an Artificial Homeostatic Hormone System : A first case study in robotic hardware. IROS 2009 : IEEE/RSJ International Conference on Intelligent Robots and Systems. St. Louis, MO, USA, 10. Okt. 2009 - 15. Okt. 2009. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE, 2009, pp. 595-600. ISSN 2153-0858. eISSN 2153-0866. ISBN 978-1-4244-3803-7. Available under: doi: 10.1109/IROS.2009.5354056
BibTex
@inproceedings{Stradner2009Analy-59960,
  year={2009},
  doi={10.1109/IROS.2009.5354056},
  title={Analysis and implementation of an Artificial Homeostatic Hormone System : A first case study in robotic hardware},
  isbn={978-1-4244-3803-7},
  issn={2153-0858},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={595--600},
  author={Stradner, Jurgen and Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl}
}
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