Methodology for Parameters Optimization for an Hybrid Architecture of Control

Abstract : This paper presents a methodology for parameters optimization applied to an hybrid behavioral control architecture. The coordination between behaviors in this architecture is insured using both hierarchical and fusion action mechanisms. This global mechanism of coordination is characterized by a multitude of parameters which must be finely tuned to enhance the efficiency of the execution of cooperative tasks. The proposed parameters optimization is obtained using genetic algorithms. Appropriate genetic operators are used to manipulate real chromosomes with a normalization relationship between its genes. The validation of the results is established using a large number of simulations. Copyright c 2005 IFAC
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  • HAL Id : hal-01714877, version 1

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Lounis Adouane, Nadine Le Fort-Piat. Methodology for Parameters Optimization for an Hybrid Architecture of Control. 16th IFAC World Congress, Jul 2005, Prague, Czech Republic. 〈hal-01714877〉

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