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Computer Science Faculty Publications
Genetic Algorithm; Cyclic Control; Hexapod; Greedy Selection; Gait; Evolutionary Robotics; Learning Control; Cyclic Genetic Algorithm
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Full-Text Articles in Computer Engineering
The Effects Of Using A Greedy Factor In Hexapod Gait Learning, Gary Parker, William T. Tarimo
The Effects Of Using A Greedy Factor In Hexapod Gait Learning, Gary Parker, William T. Tarimo
Computer Science Faculty Publications
Various selection schemes have been described for use in genetic algorithms. This paper investigates the effects of adding greediness to the standard roulette-wheel selection. The results of this study are tested on a Cyclic Genetic Algorithm (CGA) used for learning gaits for a hexapod servo-robot. The effectiveness of CGA in learning optimal gaits with selection based on roulette-wheel selection with and without greediness is compared. The results were analyzed based on fitness of the individual gaits, convergence time of the evolution process, and the fitness of the entire population evolved. Results demonstrate that selection with too much greediness tends to …