A hybrid immune evolutionary computation based on immunity and clonal selection for concurrent mapping and localization

Authors:
Meiyi Li;Zixing Cai;Yuexiang Shi;Pingan Gao
Affiliations:
College of Information Science & Engineering, Central South University, Changsha, China;College of Information Science & Engineering, Central South University, Changsha, China;College of Information Science & Engineering, Central South University, Changsha, China;College of Information Science & Engineering, Central South University, Changsha, China
Venue:
ICNC'05 Proceedings of the First international conference on Advances in Natural Computation - Volume Part III
Year:
2005

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Abstract

This paper addresses the problem of Concurrent Mapping and Localization(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.