GENETIC-ALGORITHM SEEDING OF IDIOTYPIC NETWORKS FOR MOBILE-ROBOT NAVIGATION

Amanda M. Whitbrook, Uwe Aickelin, Jonathan M. Garibaldi

2008

Abstract

Robot-control designers have begun to exploit the properties of the human immune system in order to produce dynamic systems that can adapt to complex, varying, real-world tasks. Jerne’s idiotypic-network theory has proved the most popular artificial-immune-system (AIS) method for incorporation into behaviour-based robotics, since idiotypic selection produces highly adaptive responses. However, previous efforts have mostly focused on evolving the network connections and have often worked with a single, pre-engineered set of behaviours, limiting variability. This paper describes a method for encoding behaviours as a variable set of attributes, and shows that when the encoding is used with a genetic algorithm (GA), multiple sets of diverse behaviours can develop naturally and rapidly, providing much greater scope for flexible behaviour-selection. The algorithm is tested extensively with a simulated e-puck robot that navigates around a maze by tracking colour. Results show that highly successful behaviour sets can be generated within about 25 minutes, and that much greater diversity can be obtained when multiple autonomous populations are used, rather than a single one.

Paper Citation

in Harvard Style

M. Whitbrook A., Aickelin U. and M. Garibaldi J. (2008). GENETIC-ALGORITHM SEEDING OF IDIOTYPIC NETWORKS FOR MOBILE-ROBOT NAVIGATION . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 5-14. DOI: 10.5220/0001478700050014

in Bibtex Style

@conference{icinco08,
author={Amanda M. Whitbrook and Uwe Aickelin and Jonathan M. Garibaldi},
title={GENETIC-ALGORITHM SEEDING OF IDIOTYPIC NETWORKS FOR MOBILE-ROBOT NAVIGATION},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={5-14},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001478700050014},
isbn={978-989-8111-31-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - GENETIC-ALGORITHM SEEDING OF IDIOTYPIC NETWORKS FOR MOBILE-ROBOT NAVIGATION
SN - 978-989-8111-31-9
AU - M. Whitbrook A.
AU - Aickelin U.
AU - M. Garibaldi J.
PY - 2008
SP - 5
EP - 14
DO - 10.5220/0001478700050014