An immunological approach to mobile robot reactive navigation

Authors:
Guan-Chun Luh;Wei-Wen Liu
Affiliations:
Department of Mechanical Engineering, Tatung University, Taipei, Taiwan, ROC;Department of Mechanical Engineering, Tatung University, Taipei, Taiwan, ROC
Venue:
Applied Soft Computing
Year:
2008

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Abstract

In this paper, a reactive immune network (RIN) is proposed and employed for mobile robot navigation within unknown environments. Rather than building a detailed mathematical model of artificial immune systems, this study tries to explore the principle in an immune network focusing on its self-organization, adaptive learning capability, and immune feedback. In addition, an adaptive virtual target method is integrated to solve the local minima problem in navigation. Several trapping situations designed by the early researchers are adopted to evaluate the performance of the proposed architecture. Simulation results show that the mobile robot is capable of avoiding obstacles, escaping traps, and reaching the goal efficiently and effectively.