A Study on Autonomous Mobile Robot Behavior Adjustment Using a Cytokine Reaction Model
Yosuke Shigeta*, and Yukinori Kakazu**
*Graduate School of Engineering, Hokkaido University, Kita 13, Nishi 8, Kita-ku, Sapporo 060-8628, Japan
**Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-8628, Japan
We propose an Artificial Immune System (AIMS) model using the cytokine reaction to navigate an autonomous mobile robot in a fluctuating environment. AIMS extracts the biological immune system mechanism adjusting macroscopic idiotype network behavior using cytokines. Such behavior for autonomous mobile robots is defined as the topology of a set of selected actions per unit time. Topology adjustment is important, because describing all possible actions for large fluctuating environments may cause a frame problem. To design the AIMS of the action extractor and the macroscopic behavior adjuster, we study influences of environmental parameters. Basic experiments showed that the action extractor must take into account the effect of the number of Relating Strict antibodies (nRS), a feature value of the AIMS antibody and that prior knowledge about the relationship between macroscopic behavior and environmental parameters enables efficient adjustment.
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