Abstract
Control laws for backing up a simulated truck-and-trailer to a loading dock in a parking lot are developed. Evolutionary programming (EP) with a set of mutation operators is used to automatically generate optimal control laws. EP produces an optimal nonlinear control strategy that takes the state variables as inputs and determines the direction and angle by which the truck's front wheels must be steered. Results indicate that the generated control laws successfully back up the truck-and-trailer system in an optimal manner and are capable of generalizing well over previously unseen input states.
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Chellapilla, K. (1998). Evolving nonlinear controllers for backing up a truck-and-trailer using evolutionary programming. In: Porto, V.W., Saravanan, N., Waagen, D., Eiben, A.E. (eds) Evolutionary Programming VII. EP 1998. Lecture Notes in Computer Science, vol 1447. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0040794
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DOI: https://doi.org/10.1007/BFb0040794
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