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JRM Vol.10 No.4 pp. 326-332
doi: 10.20965/jrm.1998.p0326
(1998)

Paper:

Autonomous Mobile Robot Behavior Control Using Immune Network

Yuji Watanabe, Akio Ishiguro and Yoshiki Uchikawa

Department of Computational Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan

Received:
April 20, 1998
Accepted:
June 5, 1998
Published:
August 20, 1998
Keywords:
Immune network, Decentralized consensusmaker, Autonomous mobile robot, Adaptation
Abstract

Attention has been increasingly focused on behaviorbased artificial intelligence (Al) due to its potential robustness and flexibility toward a dynamically changing world. This approach has yet unsolved problems: (1) how to construct an arbitration mechanism and (2) how to prepare competence modules (simple behavior/action). Biological information processing systems are interesting viewed from an engineering standpoint. Of these, we particularly have focused on the immune system, constructing a decentralized consensus-maker inspired by the immune network hypothesis. To solve the above problems in behavior-based Al, we apply our proposed method to behavior arbitration for an autonomous mobile robot in experiments using a real robot. We also study adaptation that automatically creates an artificial immune network using reinforcement signals.

Cite this article as:
Yuji Watanabe, Akio Ishiguro, and Yoshiki Uchikawa, “Autonomous Mobile Robot Behavior Control Using Immune Network,” J. Robot. Mechatron., Vol.10, No.4, pp. 326-332, 1998.
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