摘要
多自主移动机器人系统(MAMRS)与免疫系统有许多相似之处,将免疫识别效应和局部免疫网络(LIN)机理引入到MAMRS中,以机器人所探测到的周围环境作为抗原,将采取的反应行为看作抗体,而在LIN之间相互作用通过机器人间的通讯实现,最终在整个免疫系统内,决定机器人行为。通过仿真实验证明该方法有效。
Analogies exist between Multi Autonomous Mobile Robots System (MAMRS) and immune system.Robot models based on the immunity discern mechanism and Local Immune Network (LIN) is constructed.Individual robot is regarded as LIN,environment is regarded as antigen,and behavior tactics are deemed the antibody respectively.To confirm the validity of our method,we carry out a simulation.
出处
《计算机工程与应用》
CSCD
北大核心
2005年第32期65-67,共3页
Computer Engineering and Applications
关键词
人工免疫系统
多自主移动机器人系统
互联耦合免疫网络
路径规划
artificial immune systems, Multi Autonomous Mobile Robots System, mutual -coupled immune networks, path planning