The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Design of Autonomous Mobile Robot System Based on Artificial Immune Network and Internet

인공 면역망과 인터넷에 의한 자율이동로봇 시스템 설계

  • 이동제 (釜山大 電氣工學科) ;
  • 이민중 (釜山大 電氣工學科 Post-Doc) ;
  • 최영규 (釜山大 컴퓨터및정보통신연구소 전자전기정보컴퓨터공학부)
  • Published : 2001.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

Recently conventional artificial intelligence(AI) approaches have been employed to build action selectors for the autonomous mobile robot(AMR). However, in these approaches, the decision making process to choose an action from multiple competence modules is still an open question. Many researches have been focused on the reactive planning systems such as the biological immune system. In this paper, we attempt to construct an action selector for an AMR based on the artificial immune network and internet. The information from vision sensors is used for antibody. We propose a learning method for artificial immune network using evolutionary algorithm to produce antibody automatically. The internet environment for an AMR action selector shows the usefulness of the proposed learning artificial immune network application.

Keywords

References

  1. Yoshio Kawauchi, Makoto Inaba and Toshio Fukuda, 'A principle of distributed decision making of cellular robotic system (CEBOT),' in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp. 833-838, 1994 https://doi.org/10.1109/ROBOT.1993.292248
  2. An-Hui Cai, Toshio Fukuda and Fumihito Arai, 'Hierarchical control architecture for cellular robotics system,' in Proceedings of the 1995 IEEE International Conference on Robotics and Automation, pp. 1191-1196, 1995 https://doi.org/10.1109/ROBOT.1995.525442
  3. Lynne E. Parker, 'Learning in cooperative robot teams,' in Proceedings of the International Conference on Artificial Intelligence, France, pp. 12-23, Aug. 1993
  4. Lynne E. Parker, 'Distributed multi-robot sensing and tracking: A behavior-based approach,' in Proceedings of the SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, pp. 110-121, Oct. 1995
  5. G. C. Anousaki and K. J. Kyriakopoulos, 'Simultaneous localization and map building for mobile robot navigation,' IEEE Robotics & Automation Magazine, vol. 6, no. 3, pp. 42-53, 1999 https://doi.org/10.1109/100.793699
  6. B. S. Ryu and H. S. Yang, 'Integration of reactive behaviors and enhanced topological map for robust mobile robot navigation,' IEEE Transactions on Systems, Man, & Cybernetics Part A: Systems & Humans, vol. 29, no. 5, pp. 474-485, 1999 https://doi.org/10.1109/3468.784174
  7. G. H. Shah Hamzei and D. J. Mulvaney, 'Self-organizing fuzzy decision trees for robot navigation: an on-line learning approach,' in Proceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics, vol. 3, pp. 2332-2337, 1998 https://doi.org/10.1109/ICSMC.1998.725004
  8. D. Floreano and F. Mondada, 'Evolutionary neurocontrollers for autonomous mobile robots,' Neural Networks, vol. 11 no. 7-8 , pp. 1461-1478, 1998 https://doi.org/10.1016/S0893-6080(98)00082-3
  9. M. A. Xiaowei, L. I. Xiaoli, M. A. Yulin and C. A. I. Hegao, 'Real-time self-reaction of mobile robot with genetic fuzzy neural network in unknown environment,' in Proceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics, vol. 4 , pp. 3313-3318, 1998 https://doi.org/10.1109/ICSMC.1998.726515
  10. J. Doyne Farmer and Normal H. Packard, 'The Immune system adaptation and machine learning,' Physica 22D, pp. 187-204, North-Holland, 1986
  11. A. Ishiguro, R. Watanabe, Y. Uchikawa, 'An immunological approach to dynamic behavior control for autonomous mobile robots,' Proc. of 1995 IEEE/RSJ International Conference on Human Robot Interaction and Cooperative Robots, pp. 495-500, Aug. 1995 https://doi.org/10.1109/IROS.1995.525842
  12. Akio Ishiguro, Yuji Watanabe and Toshiyuki Kondo, 'Proposal of decentralized consensus-making mechanisms based on immune system,' in Proceedings of the International Symposium on Artificial Life and Robotics, pp. 122-127, 1996
  13. Akio Ishiguro, Toshiyuki Kondo and Yuji Watanabe, 'An immunological approach to dynamic behavior arbitration for autonomous mobile robots,' in Proceedings of International Symposium on Artificial Life and Robotics, pp. 132-137, 1996
  14. Tse Min Chen and Ren C. Luo, 'Multisensor based autonomous mobile robot through Internet control,' in Proceedings of the 23rd International Conference on Industrial Electronics, Control, and Instrumentation, vol. 3, 1997 https://doi.org/10.1109/IECON.1997.668475
  15. Tse Min Chen and Ren C. Luo, 'Remote supervisory control of an autonomous mobile robot via world wide web,' in Proceedings of the IEEE International Symposium on Industrial Electronics, vol. 1, 1997 https://doi.org/10.1109/ISIE.1997.651736
  16. T. Fitzpatrick, 'Live remote control of a robot via the Internet,' IEEE Robotics & Automation Magazine, vol. 6, no. 3, pp. 7-8, 1999 https://doi.org/10.1109/100.793695
  17. Riko Safaric, Karel Jezernik, D. W. Calkin and R. M. Parkin 'Telerobot control via Internet,' in Proceedings of the IEEE International Symposium on Industrial Electronics, vol. 1, pp. 298-303, 1999 https://doi.org/10.1109/ISIE.1999.801802
  18. G. Hirzinger, B. Brunner, R. Koeppe, K. Landzettel and J. Vogel 'Teleoperating space robots - impact for the design of industrial robots,' in Proceedings of the IEEE International Symposium on Industrial Electronics, vol. 1, 1997 https://doi.org/10.1109/ISIE.1997.651771
  19. N. K. Jerne, 'The immune system,' Scientific American, vol. 229, no. 1, pp. 52-60, 1973
  20. N. K. Jerne, 'Towards the network theory of the immune system,' Ann Immunol. (inst. Pasteur), 125C, pp. 373-389, 1974
  21. N. K. Jerne, 'Idiotypic networks and other preconceived Ideas,' Immunological Rev., no. 79, pp. 5-24, 1984 https://doi.org/10.1111/j.1600-065X.1984.tb00484.x