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The definition of the fitness function is a little bit sensitive in this case. According to
Equation 9-8, the fitness value has a direct relation with the distance between the initial
position point (
Init_Center_Pos
) and the robot position (
Robot_Pos
). Further, this function
has an inverse relation with the robot angle (
Robot_Angle
). During the optimization phase,
the aim/goal is converging the fitness function to zero.
(9-8)
Fitness = Dist (Init_Center_Pos, Robot_Pos)*(1/Robot_Angle)
(9-9)
After nearly 3300 chromosome generations and evolution, the robot is able to turn over
its Yaw axis. Figure 9-16 shows the result of the wave pattern for unstructured spider
turning. The usability of the templates in this paper can be summarized as follows.
Templates are stored in a list/memory. By a high level task management templates are
selected. This selection depends on the high level task management decision and the
environment situation as well. Further, a factor of high importance is the behavioral
architecture and behavioral programming. In fact, low level skills (e.g. Moving forward,
