Abstract
In recent years much attention has been focused on behavior-based artificial intelligence, (AI) which has already Enmonstrated its robustness and flexibility against dynamically changing world. However, in this approach, the followings problems have not yet been resolved: 1) how do we construct an appropriate arbitration mechanism, and 2) how do we prepare appropriate competence modules (behavior primitives). One of the promising approaches to tackle the problems is a biologically inspired approach. Among them, we Particlely focus on the immune system, since it is Endicated to self-preservation unEnr hostile environment (needless to say autonomous mobile robots must cope with dynamically changing environment). Therefore, we construct a new Encentralized behavior arbitration mechanism inspired by the biological immune system. And we apply it to the garbage-collecting problem of autonomous mobile robot that takes into account of the concept of selfsufficiency. To verify the feasibility of our method, we carry out some experiments using a real robot. In addition, we investigate two types of adaptation mechanisms to construct an appropriate artificial immune network without human intervention
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Watanabe, Y., Ishiguro, A., Uchikawa, Y. (1999). Decentralized Behavior Arbitration Mechanism for Autonomous Mobile Robot Using Immune Network. In: Dasgupta, D. (eds) Artificial Immune Systems and Their Applications. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-59901-9_10
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DOI: https://doi.org/10.1007/978-3-642-59901-9_10
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