Classifier system for controlling robot movement in a plane with obstacles

The purpose of the present study is to teach a robot to find and catch a fo od agent and to evade predators, using different environmental sensors. The problem is solved using a system of classifiers. It is assumed that food i s obtained if the distance between the robot and the food is reduced by a d efinite constant quantity. The training procedure is based on gradual accum ulation by the robot of experience in the course of solving the problem. Th e behavior of the robot is investigated in simple states as well as under c onditions in which the initial parameters of the description of the environ ment change.