Evolving in Real Time a Neural Net Controller of Robot-Arm: Track and Evolve

Evolutionary Engineering (EE) is defined to be “the art of using evolutionary algorithms approach such as genetic algorithms to build complex systems”. This paper deals with a neural net based system. It analyses ability of genetically trained neural nets to control Simulated robot arm, witch tries to track a moving object. In difference from classical Approaches neural network learning is performed on line, i.e., in real time. Usually systems are built/evolved, i.e., genetically trained separately of their utilization. That is how it is commonly done. It's a fact that evolution process is heavy on time; that's why Real-Time approach is rarely taken into consideration. The results presented in this paper show that such approach (Real-Time EE) is possible. These successful results are essentially due to the “continuity” of the target's trajectory. In EE terms, we express this by the Neighbourhood Hypothesis (NH) concept.