2014 XVI Symposium on Virtual and Augmented Reality
Gera.;ao de Comportamentos Emergentes de N avega.;ao em Agentes Autonomos utilizando Visao Artificial Generation of Emergent Navigation Behavior in Autonomous Agents using Artificial Vision Lilian de O. Carneiro I , Joaquim B. CavaIcante-Neto l , Creto A. Vidal l , Yuri L. B. Nogueira2 , Arnaldo B. Vila Nova l IDepartamento de Computac;ao, Universidade Federal do Ceara, Fortaleza, CE, Brasil Emails:{lilian. joaquimb.cvidal. barretovilanova} @lia.ufc.br 2Centro Universitario Christus, Fortaleza, CE, Brasil Email:
[email protected]
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Fig. 1. Vi sao geral do modelo proposto. 0 agente e capaz de se gui ar pelo ambiente utili zando sua pr6pri a visao. 0 c6rtex vi sual artificial proposto consiste de imagens capturadas por uma camera virtual. As imagens, com tamanho lO x 10 pixels no sistema de cores ROB , sao capturadas e passadas ao control ad or. Como 0 agente se desloca apenas em duas dimensoes, e suficiente enxergar a poryao central da imagem e, por isso, utili za-se apenas os dez pixel s da quinta linha como vi sao. Esses, por sua vez, sao reduzidos a cinco pixels atraves da media aritmetica de cada componente ROB de cad a doi s pixels vizinhos. As cores resultantes sao ent1io dadas como entrada a rede neural que emite sinais aos motores qu e realizam os mov imentos do agente.
Resumo Neste trabalho, aborda-se a dinamica de movimento de agentes autonomos capazes de se guiar pelo ambiente utilizando a propria visiio. Para isso, evolui-se urn cortex visual artificial empregando-se uma Rede Neural continua e a codificaryiio genetica aplicada em urn Algoritmo Genetico (AG) canonico, conforme proposto em [1] [2], porem, utilizandose uma nova descriryiio sensorial baseada em imagens capturadas por uma camera virtual. Os testes realizados mostraram que os agentes siio capazes de navegar pelo ambiente e encontrar a saida, de maneira niio programada, utilizando apenas a informaryiio visual passada a rede neural. Isso pode facilitar a aplicaryiio em diversos ambientes, sem exibir uma tendencia
978-1-4799-4261-9/14 $31.00 © 2014 IEEE DOI 10.1109/SVR.2014.19
forryada por uma possivel modelagem comportamental como ocorre em outras tecnicas.
Palavras-chave - Agentes autonomos; Algoritmo Genetico; Cortex visual artificial Abstract - In this work, we deal with the dynamics of the movements of autonomous agents, which are able to move in the environment using their own vision. For this, we apply the Continuous Time Recurrent Artificial Neural Network and the genetic encoding proposed in [1] [2]. However, we use a new sensorial description, which consists in captured images by a virtual camera, evolving an artificial visual cortex. The experiments show that the agents are able to navigate in the 323 324
trabalho, apresenta-se urn estudo da dinamica de movimento de urn agente em uma variedade de ambientes simples de simulac;ao. Para isso, utiliza-se, no estudo de evacuac;oes, a abordagem de gerac;ao de comportamentos de personagens virtuais autonomos proposta em [1] e [2]. No entanto, e apresentada urna nova descric;ao sensorial, na qual, propoe-se a evoluc;ao de urn cortex visual artificial baseado em imagens capturadas por uma camera virtual.
environment and to find the exit, in a non-programmed way, using only the visual data passed to the neural network. This has the flexibility to be applied in various environments, without displaying a forced tendency by a possible behavioral modeling as in other techniques.
Keywords - Autonomous agents; Genetic Algorithm; Artificial visual cortex
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Este trabalho foi apoiado pela Coordenac;ao Aperfeic;oamento de Pessoal de Nivel Superior (CAPES).
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R EFERENC IAS
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Fig. 5. Evoluyao da media da avaliayao em cada gerayao considerando-se cinco execuyoes. 25 , - - - - - - - - - - - - - - - - - - - - -
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CONCLUSOES
Neste trabalho, estudou-se a dinamica de movimento de urn agente em ambientes simples de simulac;ao. Foram gerados individuos capazes de se guiarem utilizando a propria visao na tarefa de encontrar a saida de uma sala. Para tal, aplicou-se a mesma Rede Neural e a me sma codificac;ao genetica aplicada sobre urn AG canonico utilizada em [1] e [2], porem, com uma nova descriC;ao sensorial, promovendo a evoluC;ao de urn cortex
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