제어로봇시스템학회:학술대회논문집
- 1997.10a
- /
- Pages.124-127
- /
- 1997
Dynamic behavior control of a collective autonomous mobile robots using artificial immune networks
인공면역네트워크에 의한 자율이동로봇군의 동적 행동 제어
Abstract
In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying immune system to DARS, a robot is regarded as a B lymphocyte(B cell), each environmental condition as an antigen, and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is simulated and suppressed by other robot using communication. Finally much simulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy.