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The turn angle is determined as , where
is the output of the left
turn neuron, and is the output of the right turn neuron.
The robot moves forward a distance of on the 600 by 600
board, where is the forward motion output.
These coefficients were calibrated through experimentation to
achieve accurate and smooth motion with neural outputs between zero
Appendix B. Robot Duel Domain Coefficients of Motion
Kenneth O. Stanley