Journal of the Korean Institute of Telematics and Electronics S (전자공학회논문지S)
- Volume 35S Issue 3
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- Pages.102-109
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- 1998
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- 1226-5837(pISSN)
Artificial immune network-based cooperative beharior strategies in collective autonomous mobile rotos
인공면역계 기반의 자율이동로봇군의 협조행동전략 결정
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 codintion changes, a robot select an appropriate beharior stategy. And its behavior stategy is stimulated and suppressed by other robot using communiation. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idotopic network hypothesis. And it is used for decision making of optimal swarm stragegy.
Keywords