MULTI-ROBOT COOPERATION FRAMEWORK BASED ON ARTIFICIAL IMMUNE SYSTEM

摘要

This paper develops a framework for multi-robot cooperation (MRC) and coordination using artificial immune system and applies it in multi-object transportation by mobile robots. Specifically, a complete decentralized and autonomous control framework for MRC is developed utilizing Jerne's idiotypic network theory and the principles of human immune system. In the proposed scheme, robots are capable of completing the task independently or with the help of other robots as required. The communication and coordination among the robots is based on the principles of immune system and Farmer's mathematical model of network theory. The developed methodology is successfully applied on a set of simulated heterogeneous robots roaming in an unknown and dynamic environment and transporting certain objects to a specified goal location.