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


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

April 20, 1998
June 5, 1998
August 20, 1998
Immune network, Decentralized consensusmaker, Autonomous mobile robot, Adaptation

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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