Concurrent controller and Simulator Neural Network development for a snake-like robot in Evolutionary Robotics

Previous research has successfully demonstrated that ANN-based simulators and controllers can be developed concurrently during the ER process for a simple differentially-steered wheeled robot, while the current research has demonstrated the concurrent approach using a complex snake-like robot. The viability of the concurrent approach was demonstrated on a real-world snake-like robot by performing trajectory planning tasks. Influential factors related to the success of the concurrent approach were also studied by investigating the effects various parameter settings had on success.