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Neuro-Genetic Truck Backer-Upper Controller

Abstract : The precise docking of a truck at a loading dock has been proposed in Nguyen & Widrow 90] as a benchmark problem for non-linear control by neural-nets. The main difficulty is that back-propagation is not a priori suitable as a learning paradigm, because no set of training vectors is available: It is non-trivial to find solution trajectories that dock the truck from anywhere in the loading yard. In this paper we show how a genetic algorithm can evolve the weights of a feed-forward 3-layer neural net that solves the control problem for a given starting state, achieving a short trajectory from starting point to goal. The fitness of a net in the population is a function of both the nearest position from the goal and the distance traveled. The influence of input data renormalisation on trajectory precision is also discussed.
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Marc Schoenauer, Edmund Ronald. Neuro-Genetic Truck Backer-Upper Controller. Proc. First IEEE International Conference on Evolutionary Computation, Jun 1994, Orlando, United States. ⟨hal-02985436⟩

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