3.3 Hypothesis The Lamarckian genetic algorithm should be able to outperform the Darwinian genetic algorithm. This is due to the fact that the Lamarckian genetic algorithm can evolve during its life time while the Darwinian genetic algorithm only evolves in next generation. The Lamarckian genetic algorithm has to first calculate the fitness, repair all the chromosomes, and then recalculate the fitness. Therefore it adapted the environment during life time so evolves faster than the Darwinian genetic algorithm. 4. Robot Design 4.1 Robot Constraints and Criteria Constraints Cost Parts cannot be very expensive (<$1000) – Metal Shop Limit of having no metal shop, leaving only to be able to buy store parts. – Computer HP Pavilion dm4 with core i5 processor (2.40 GHz) – Lego NXT Limited commands in RobotC than from C++ – Bluetooth Only one connection to NXT allowed – Criteria The criteria of the robot are that the robot must have some sort of vision, speech and emotion (head), and be able to pick up various objects. Through genetic algorithms, the robot must be able to automatically solve a maze, find a target and fire at it, and be able to pick up various items. 4.2 Selection of Tools and Parts Tetrix was used for building the frame of the robot. Tetrix was used because it is compatible with the Lego NXT and it is very sturdy. It is superior than vex in terms of strength.
3.3 Hypothesis The Lamarckian genetic algorithm should be able to outperform the Darwinian genetic algorithm. This is due to the fact that the Lamarckian genetic algorithm can evolve during its life time while the Darwinian genetic algorithm only evolves in next generation. The Lamarckian genetic algorithm has to first calculate the fitness, repair all the chromosomes, and then recalculate the fitness. Therefore it adapted the environment during life time so evolves faster than the Darwinian genetic algorithm. 4. Robot Design 4.1 Robot Constraints and Criteria Constraints Cost – Parts cannot be very expensive (<$1000) Metal Shop – Limit of having no metal shop, leaving only to be able to buy store parts. Computer – HP Pavilion dm4 with core i5 processor (2.40 GHz) Lego NXT – Limited commands in RobotC than from C++ Bluetooth – Only one connection to NXT allowed Criteria The criteria of the robot are that the robot must have some sort of vision, speech and emotion (head), and be able to pick up various objects. Through genetic algorithms, the robot must be able to automatically solve a maze, find a target and fire at it, and be able to pick up various items. 4.2 Selection of Tools and Parts Tetrix was used for building the frame of the robot. Tetrix was used because it is compatible with the Lego NXT and it is very sturdy. It is superior than vex in terms of strength.
H1.cheng-lamarckian-ga-robot.docx