Genetic Algorithm Seeding of Idiotypic Networks for Mobile-Robot Navigation

10 Pages Posted: 8 Jul 2017

See all articles by Amanda Whitbrook

Amanda Whitbrook

University of Nottingham - School of Computer Science

Uwe Aickelin

University of Melbourne - School of Computing and Information Systems

Jonathan Garibaldi

University of Nottingham - School of Computer Science

Date Written: January 1, 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, preengineered 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.

Keywords: mobile-robot navigation, genetic algorithm, artificial immune system, idiotypic network

Suggested Citation

Whitbrook, Amanda and Aickelin, Uwe and Garibaldi, Jonathan, Genetic Algorithm Seeding of Idiotypic Networks for Mobile-Robot Navigation (January 1, 2008). Available at SSRN: https://ssrn.com/abstract=2831226 or http://dx.doi.org/10.2139/ssrn.2831226

Amanda Whitbrook

University of Nottingham - School of Computer Science ( email )

Jubilee Campus
Wollaton Road
Nottingham, NG8 1BB
United Kingdom

Uwe Aickelin (Contact Author)

University of Melbourne - School of Computing and Information Systems ( email )

Australia

Jonathan Garibaldi

University of Nottingham - School of Computer Science ( email )

Jubilee Campus
Wollaton Road
Nottingham, NG8 1BB
United Kingdom

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