This paper demonstrates the use of genetic programming (GP) for the development of mobile robot wall-following behaviors. Algorithms are developed for a simulated mobile robot that uses an array of range finders for navigation. Navigation algorithms are tested in a variety of differently shaped environments to encourage the development of robust solutions, and reduce the possibility of solutions based on memorization of a fixed set of movements. A brief introduction to CP is presented. A typical wall-following robot evolutionary cycle is analyzed, and results are presented. GP is shown to be capable of producing robust wall-following navigation algorithms that perform well in each of the test environments used. [References: 4]
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