Biomedical Engineering Reference
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Chapter VII
A Biologically Inspired
Autonomous Robot Control
Based on Behavioural
Coordination in Evolutionary
Robotics
José A. Fernández-León
University of Sussex, UK & CONICET, Argentina
Gerardo G. Acosta
Univ. Nac. del Centro de la Prov. de Buenos Aires & CONICET, Argentina
Miguel A. Mayosky
Univ. Nac. de La Plata & CICPBA, Argentina
Oscar C. Ibáñez
Universitat de les Illes Balears, Palma de Mallorca, Spain
AbSTRACT
This work is intended to give an overview of technologies, developed from an artificial intelligence
standpoint, devised to face the different planning and control problems involved in trajectory generation
for mobile robots. The purpose of this analysis is to give a current context to present the Evolutionary
Robotics approach to the problem, which is now being considered as a feasible methodology to develop
mobile robots for solving real life problems. This chapter also show the authors' experiences on related
case studies, which are briefly described (a fuzzy logic based path planner for a terrestrial mobile robot,
and a knowledge-based system for desired trajectory generation in the Geosub underwater autonomous
vehicle). The development of different behaviours within a path generator, built with Evolutionary Ro-
botics concepts, is tested in a Khepera© robot and analyzed in detail. Finally, behaviour coordination
based on the artificial immune system metaphor is evaluated for the same application.
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