Title :
A symbiosis algorithm for robotic control
Author :
Ward, K.M. ; Siddique, M.N.H. ; Maguire, L.P. ; McGinnity, T.M.
Author_Institution :
Sch. of Comput. & Intelligent Syst., Ulster Univ. at Magee, Derry, UK
Abstract :
An algorithm inspired by the biological phenomenon of symbiosis is presented in this paper. The genetic diversity obtained from the creation of symbiotic relationships is investigated and the symbiosis algorithm is applied to a robotic forward kinematics control problem. Compared with other evolutionary optimisation techniques, the symbiosis algorithm is shown to be an effective paradigm in discovering optimal solutions. Genetic diversity was found to be maintained in the absence of conventional genetic operators.
Keywords :
genetic algorithms; optimal control; robot kinematics; evolutionary optimisation; genetic diversity; optimal solutions; robotic control; robotic forward kinematics control problem; symbiosis algorithm; symbiotic relationships; Biological cells; Evolution (biology); Genetic mutations; Intelligent robots; Intelligent systems; Kinematics; Organisms; Robot control; Symbiosis; Systems engineering and theory; Symbiosis; evolutionary computing; robot arm kinematics; symbiotic composition;
Conference_Titel :
Evolutionary Computation, 2005. The 2005 IEEE Congress on
Print_ISBN :
0-7803-9363-5
DOI :
10.1109/CEC.2005.1554939
