Decentralized control system for autonomous navigation based on an evolved artificial immune network
Decentralized control system for autonomous navigation based on an evolved artificial immune network
复制标题
基于进化人工免疫网络的自主导航分散控制系统
DOI：
10.1109/cec.2002.1004383
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
F. J. Zuben
中科院分区：
文献类型：
--
作者：
Roberto Michelan;F. J. Zuben
本文研究了一种基于免疫网络理论的移动机器人自主控制系统。免疫网络引导机器人解决一个多目标任务，即垃圾收集：机器人必须找到并收集垃圾，同时建立一条不与障碍物碰撞的轨迹，并在能量耗尽之前返回基地。每个网络节点对应一个特定的抗体，并描述机器人的特定控制动作。抗原是机器人的当前状态，从一组内部和外部传感器读取。网络动态对应于抗体浓度水平的变化，其根据抗体节点以及抗体和抗原的相互作用而变化。提出了一种进化机制来确定网络配置，即定义这些交互的参数。模拟结果表明所提出的建议非常有前途。
This paper investigates an autonomous control system of a mobile robot based on the immune network theory. The immune network navigates the robot to solve a multiobjective task, namely, garbage collection: the robot must find and collect garbage, while it establishes a trajectory without colliding with obstacles, and return to the base before it runs out of energy. Each network node corresponds to a specific antibody and describes a particular control action for the robot. The antigens are the current state of the robot, read from a set of internal and external sensors. The network dynamics corresponds to the variation of antibody concentration levels, which change according to both mutual interaction of antibody nodes and of antibodies and antigens. It is proposed an evolutionary mechanism to determine the network configuration, that is, the parameters that define those interactions. Simulation results suggest that the proposal presented is very promising.