Evolving indoor navigational strategies using gated recurrent units in NEAT

James Butterworth, Rahul Savani, Karl Tuyls

Abstract: Simultaneous Localisation and Mapping (SLAM) algorithms are expensive to run on smaller robotic platforms such as Micro-Aerial Vehicles. Bug algorithms are an alternative that use relatively little processing power, and avoid high memory consumption by not building an explicit map of the environment. In this work we explore the performance of Neuroevolution - specifically NEAT - at evolving control policies for simulated differential drive robots carrying out generalised maze navigation. We compare this performance with respect to one particular bug algorithm known as I-Bug. We extend NEAT to include Gated Recurrent Units (GRUs) to help deal with long term dependencies. We show that both NEAT and our NEAT-GRU can repeatably generate controllers that outperform I-Bug on a test set of 209 indoor maze like environments. We show that NEAT-GRU is superior to NEAT in this task. Moreover, we show that out of the 2 systems, only NEAT-GRU can continuously evolve successful controllers for a much harder task in which no bearing information about the target is provided to the agent.