Artificial immune system inspired behavior coordination for autonomous mobile robot trajectory generation

Acosta, Gerardo G, Fernandez-Leon, Jose A and Mayosky, Miguel A (2010) Artificial immune system inspired behavior coordination for autonomous mobile robot trajectory generation. In: IEEE Congress on Evolutionary Computation 2010, 18-23 July 2010, Barcelona.

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Abstract

For the construction of an autonomous robot moving in a real environment, it is necessary to count with a system for the on-line generation of trajectories. An outstanding research area to approach this issue is the evolutive robotics, that resorts to the behavior based control. In this kind of control, a complex robot's behavior can be obtained by the coordination of more simple behaviors. This emergent behavior may has multiple objectives. The present work proposes to make a brief comparison among different behavior coordination approaches. Particularly, the coordination inspired in an artificial immune system paradigm showed promising experimental results. These results were obtained over a case study in computer simulation as well as in laboratory experiments with a Khepera II microrobot.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Jose A. FernandezLeon
Date Deposited: 20 Feb 2012 16:56
Last Modified: 14 Jun 2012 12:38
URI: http://sro.sussex.ac.uk/id/eprint/37195
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