Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)
- 1998.03a
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- Pages.127-130
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- 1998
An Immune System Modeling for Realization of Cooperative Strategies and Group Behavior in Collective Autonomous Mobile Robots
자율이동로봇군의 협조전략과 군행동의 실현을 위한 면역시스템의 모델링
Abstract
In this paper, we propose a method of cooperative control(T-cell modeling) and selection of group behavior strategy(B-cell modeling) based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying immune system to DARS, a robot is regarded as a B cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-call respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other robot using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based of clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy. By T-cell modeling, adaptation ability of robot is enhanced in dynamic environments.
Keywords