Abstract
This chapter describes how a robotic controller based on a 3-dimensional lookup table was used to control a ball balancing beam system. The evolved motion of the beam and the corresponding chromosome is analysed. The 3 system states of the ball and beam were translated by the lookup table into a motor speed and direction which maintained the ball in balance. The ball-beam states included the ball position, ball speed, and beam position. The reproduction method used 2-point crossover with a mutation rate of 2 percent. The selection method was tournament, and the population size was 100 individuals. Successful evolution was achieved on 4 lookup tables, each containing different maximum motor speeds. Each evolved lookup table was able to maintain the ball in balance for more than 5 minutes.
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Beckerleg, M., Collins, J. (2013). An Analysis of the Genetic Evolution of a Ball-Beam Robotic Controller Based on a Three Dimensional Look up Table Chromosome. In: Kim, H., Ao, SI., Rieger, B. (eds) IAENG Transactions on Engineering Technologies. Lecture Notes in Electrical Engineering, vol 170. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4786-9_9
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DOI: https://doi.org/10.1007/978-94-007-4786-9_9
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