A Hybrid Immune Evolutionary Computation Based on Immunity and Clonal Selection for Concurrent Mapping and Localization

摘要

This paper addresses the problem of Concurrent Mapping and Local-ization(CML) by means of a hybrid immune evolutionary computation based on immunity and clonal selection for a mobile robot. An immune operator, a vaccination operator, is designed in the algorithm. The experiment results of a real mobile robot show that the computational expensiveness of the algorithm in this paper is less than other algorithms and the maps obtained are very accurate.