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Designing the Moving Pattern of Cleaning Robot based on Grammatical Evolution with Conditional Probability Table
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 Title & Authors
Designing the Moving Pattern of Cleaning Robot based on Grammatical Evolution with Conditional Probability Table
Gwon, Soon-Joe; Kim, Hyun-Tae; Ahn, Chang Wook;
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 Abstract
The cleaning robot is popularly used as a home appliance. The state-of-the-art cleaning robot can clean more efficiently by using information gathered from its sensor, which is difficult for low-price cleaning robots due to limitation in this aspect. In this paper, we suggested a method for the moving pattern of cleaning robot based on grammatical evolution. Optimized program is generated by using moving pattern grammar, which is defined by Backus-Naur form. In addition, conditional probability is used between each of the grammar elements during the program creation process. The proposed method is evaluated by robot simulation in order to verify its performance and further compare it with existing algorithms. The experiment results showed that the proposed method is better than the compared algorithms.
 Keywords
grammatical evolution;coverage algorithm;evolutionary computation;context-free grammar;moving pattern;conditional probability;
 Language
Korean
 Cited by
 References
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