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Navigation Control and Path Mapping of a Mobile Robot using Artificial Immune Systems
Rajab Challoo
Pages - 1 - 25     |    Revised - 25-02-2010     |    Published - 31-03-2010
Volume - 1   Issue - 1    |    Publication Date - May 2010  Table of Contents
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KEYWORDS
Mobile Robots, Artificial Intelligence, Immune System, Path Planning, Mapping, Learning
ABSTRACT
This study aims to apply Artificial Immune Systems (AIS) to a mobile robot making it capable of traversing an unknown environment and mapping it while looking for the target. We have implemented a mixture of Antibody-Antibody (Ab-Ab) interaction algorithm coupled with negative selection algorithms to develop the proposed AIS controller. We have also developed a method for random generation of antibodies to make the system more similar to the actual biological process. Finally, a generalized architecture for representation of antibodies and antigens in a standard mobile robot using proximity sensors for interaction with the environment has been introduced. The results show that the proposed algorithm was able to explore the unknown environments while learning from past behavior and look for the target. It was also able to successfully map the traversed path and plot the obstacles based on their type.
CITED BY (9)  
1 Panda, M. R., Priyadarshini, R., & Pradhan, S. (2015). An Optimal Path Planning for Multiple Mobile Robots Using AIS and GA: A Hybrid Approach. In Mining Intelligence and Knowledge Exploration (pp. 334-346). Springer International Publishing.
2 Pol, R. S., & Murugan, M. (2015, May). A review on indoor human aware autonomous mobile robot navigation through a dynamic environment survey of different path planning algorithm and methods. In Industrial Instrumentation and Control (ICIC), 2015 International Conference on (pp. 1339-1344). IEEE.
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4 Son, B., & Lee, D. H. (2014). An Obstacle Avoidance Technique of Quadrotor Using Immune Algorithm. 대한임베디드공학회논문지 제, 9(5).
5 Deng, L., Ma, X., Gu, J., & Li, Y. (2013). Mobile robot path planning using polyclonal-based artificial immune network. Journal of Control Science and Engineering, 2013, 2.
6 Malakar, A., Sarma, H., Gawade, P. L., Jadhav, A. N., Devi, A., Kalita, S., ... & Bandyopadhyay, S. K. An artificial immune system for ambiguity reduction of text using parsing.
7 Akhtaruzzaman, M., Shafie, A. A., & Rashid, M. (2012). Designing an Algorithm for Bioloid Humanoid Navigating in its Indoor Environment. Journal of Mechanical Engineering and Automation, 2(3), 36-44.
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Dr. Rajab Challoo
- United States of America
kfrc000@tamuk.edu


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