Visual obstacle avoidance using genetic programming: first results
MARTIN C. MARTIN · 2001
Genetic Programming is used to create a reactive obstacle avoidance system for an autonomous mobile robot. The evolved programs take a black and white camera image as input and estimate the location of the lowest nonground pixel in a given column. Traditional computer vision operators such as Sobel gradient magnitude, median filters and the Moravec interest operator are combined arbitrarily. Five memory locations can also be read or written to. The first evolved program is now controlling the robot.