An intelligent, evolutionary, hybrid, PDE-ODE controller for navigation in unknown environments

• Published in: Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intell pp. 565 - 569
• Main Authors: Masoud, A.A., Masoud, S.A.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 1998
• Subjects: Acceleration; Actuators; Convergence; Intelligent structures; Mechanical engineering; Multidimensional systems; Navigation; Process planning; Space stations
• ISBN: 0780344235; 9780780344235
• ISSN: 2158-9860; 2158-9879
• DOI: 10.1109/ISIC.1998.713733

Discusses the construction of a hybrid control structure that would enable an agent to operate in an unknown, stationary environment. The control structure has an evolutionary nature that allows for autonomous structural adaptation of the control relying only on a sequentially acquired sensory input as a source of information. It also has the ability to integrate any available a priori information in its database regardless of its fragmentation or sparsity in the planning process to accelerate convergence. The structure is based on a bottom-up approach to behavior synthesis that allows the integration of experience along with synergy as drivers of the action selection process. Theoretical development of the structure, a realization, and simulation results are provided.