An Idiotypic Immune Network as a Short-Term Learning Architecture for Mobile Robots

Authors:
Amanda Whitbrook;Uwe Aickelin;Jonathan Garibaldi
Affiliations:
School of Computer Science, University of Nottingham, UK NG8 1BB;School of Computer Science, University of Nottingham, UK NG8 1BB;School of Computer Science, University of Nottingham, UK NG8 1BB
Venue:
ICARIS '08 Proceedings of the 7th international conference on Artificial Immune Systems
Year:
2008

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Abstract

A combined Short-Term Learning (STL) and Long-Term Learning (LTL) approach to solving mobile robot navigation problems is presented and tested in both real and simulated environments. The LTL consists of rapid simulations that use a Genetic Algorithm to derive diverse sets of behaviours. These sets are then transferred to an idiotypic Artificial Immune System (AIS), which forms the STL phase, and the system is said to be seeded. The combined LTL-STL approach is compared with using STL only, and with using a hand-designed controller. In addition, the STL phase is tested when the idiotypic mechanism is turned off. The results provide substantial evidence that the best option is the seeded idiotypic system, i.e. the architecture that merges LTL with an idiotypic AIS for the STL. They also show that structurally different environments can be used for the two phases without compromising transferability.