Abstract
An automatic controller synthesis method for a single axe linear robot is considered. The robot motions are modeled by a Delay Time Petri Net (DTPN). The search refers to automatically finding a controller modeled by a Time Petri Net (TPN) that fulfills some specified requirements. The controller model is synthesized using a Genetic Programming (GP) method. The mapping between TPN model and the tree representation of individual genotypes is performed using a formal language named here TPNL (Time Petri Net based Language). This language is suited for formal description of the controller behavior traits like sequential, concurrent, selection, loop or input/output. The use of control traits guaranties the construction of individuals that are capable and useful to control the robot moves. To diminish the search durations, besides the usual genetic operators like mutation, permutation and crossover, a new atrophy operator was introduced.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
References
Kapkovic, F.: Automatic control synthesis for agents and their cooperation in MAS. Computing and Informatics 29, 1045–1071 (2010)
Chandra, V., Zhongdong, H., Kumar, R.: Automated control synthesis for an assembly line using discrete event system control theory. IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews 33(2), 284–289 (2003)
Dideban, A., Alla, R.: Controller synthesis by Petri nets modeling. In: Proc. of the 3rd International Workshop on Verification and Evaluation of Computers and Communication Systems (2010)
Juan, E.Y.T., Tsai, J.P., Murata, T., Zhou, Y.: Reduction methods for real-time systems using delay time Petri nets. IEEE Transactions on Software and Engineering 27(5), 422–448 (2001)
Wang, J., Deng, Y., Xu, G.: Reachability Analysis of Real-Time Systems Using Time Petri Nets. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 30(5), 725–736 (2000)
Paic-Antunovic, L., Jakobovic, D.: Evolution of automatic robot control with genetic programming. In: Proceedings of the 35th International Convention MIPRO, pp. 817–822 (2012) ISBN: 978-1-4673-2577-6
Alfaro-Cid, E., Merelo, J.J., Fernndez de Vega, F., Esparcia-Alczar, A.I., Sharman, K.: Bloat Control Operators and Diversity in Genetic Programming: A Comparative Study. Evolutionary Computing 18(2), 305–320 (2010)
Song, A., Chen, D., Zhang, M.: Bloat control in genetic programming by evaluating contribution nodes. In: GECCO 2009: Proceedings of the Genetic and Evolutionary Computation Conference, pp. 1893–1894 (2009)
Letia, T.S., Hulea, M., Cuibus, O.: Controller synthesis method for discrete event systems. In: IEEE International Conference on Automation Quality and Testing Robotics (AQTR), pp. 85–90 (2012), doi:10.1109/AQTR.2012.6237680
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Letia, T.S., Cuibus, O. (2014). Automatic Linear Robot Control Synthesis Using Genetic Programming. In: Kim, JH., Matson, E., Myung, H., Xu, P., Karray, F. (eds) Robot Intelligence Technology and Applications 2. Advances in Intelligent Systems and Computing, vol 274. Springer, Cham. https://doi.org/10.1007/978-3-319-05582-4_52
Download citation
DOI: https://doi.org/10.1007/978-3-319-05582-4_52
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-05581-7
Online ISBN: 978-3-319-05582-4
eBook Packages: EngineeringEngineering (R0)