Ryk Waters: March 2010

Wednesday 24 March 2010

Diff wheeled robot - part 2

This run only allows the robot to move forwards, turning by having one motor going slower than the other.

Now the evolution cheats and finds a local maxima by simply ignoring the goal and always just turning away from any objects until it they are all out of range. Half way there This just implies that it is more interested in not bumping into things and less interested in the goal.... time to make the goal more appealing, chocolate I think

Evolving a diff wheeled robot

I'm evolving a controller for a robot with powered wheels on each side and a non-powered omni-wheel at the back.

The robot needs to get from the start to the goal (shown as a yellow post, in the top left or right of the arena). But it can't bump into any of the cylinders.

1st Try:

The problem with this is that the robot is cheating by going backwards. This is because score is taken away when the front sensors sense close objects.

Thursday 11 March 2010

variable square wave

same again... and i've just spotted a mistake in my graph making code.... so i need to do them all again... bugger

EvoResults-slider2-2d-feetonthefloorsummedscore-tanh-variablesinewavehips-jointsonlyfrontandback-removedsidemotors-bugfix

The hips are on a variable sine wave, varying the frequency, amplitude and y axis offset.

The evolution seems to just push the wave right up high so the motors are always positive and at their limit, sort of vibrating along.

Tuesday 9 March 2010

EvoResults-slider2-2d-feetonthefloorsummedscore-tanh-sinewavehips-jointsonlyfrontandback-removedsidemotors-bugfix

Fitness: Forward Motion with one foot on the floor
Dimensions of Feedback: 2D
Track: Slider
Generations: 100
Simple ANN using tanh with (1 x sin(0.65 x i)) for the hips