Artificial immune-network based autonomous mobile robots navigation and coordination

摘要

Based on the analogies between multi autonomous robots system (MARS) and immune system, a synthesized immune network is proposed, and used to solve the navigation and coordination problem on MARS. Individual robot was regarded as small-scaled immune networks (SN). Task was regarded as antigen, and behavior tactics were deemed to the antibodies respectively. Behavior tactic to a robot sensor was taken as B cell. Navigation and coordination problem is transformed into the interaction mechanism among antibody, antigen and small-scaled immune networks. The pursuit problem was used to validate the hypothesis. Simulation results suggest that the proposal is promising.