IMMUNE SYSTEM-INSPIRED DYNAMIC MULTI-ROBOT COORDINATION

被引：0

作者：

Khan, Muhammad Tahir ^{[1
]}

de Silva, Clarence ^{[1
]}

机构：

[1] Univ British Columbia, Dept Mech Engn, Ind Automat Lab, Vancouver, BC V6T 1W5, Canada

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 3 | 2010年

关键词：

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates multi-robot coordination for the deployment of autonomous mobile robots in order to carry out a specific task. A key to utilizing of the full potential of cooperative multi-robot systems is effective and efficient multi-robot coordination. The paper presents a novel method of multi-robot coordination based on an Artificial Immune System. The developed approach relies on Jern's Immune Network Theory, which concerns how an antibody stimulates or suppresses another antibody and recognizes non-self antigens. In the present work, the robots are analogous to antibodies and the robotic task is analogous to an antigen in a biological immune system. Furthermore, stimulation and suppression in an immune system correspond to communication among robots. The artificial immune system will select the appropriate number of antibodies autonomously to eliminate the antigens. The developed method of multi-robot coordination is verified by computer simulation.

引用

页码：37 / 43

页数：7

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