免疫机器人的仿生计算与控制

Bio-inspired computation and control of immune robots

传统的移动机器人研究一般假设环境是安全的,为了增强机器人在危险、变化的环境中适应无人作业的能力,提高机器人对外界干扰、攻击和破坏的抵抗力、容错力和免疫力,提出了危险环境的自体/异体建模方法和免疫机器人的仿生计算模型与控制方法.模仿生物免疫系统,构建机器人的免疫计算模型和免疫控制结构,实现类似于生物免疫系统的自体/异体检测、辨别、学习和修复及鲁棒性、免疫性等功能.免疫机器人技术用来检测、识别和预报危险、变化的环境,检测并修复机器人的正常状态,实现恶劣环境中机器人仿生控制,具有重要的理论创新意义、明显的技术创新价值和可观的应用前景.

In traditional study of mobile robots it is assumed that the environment is secure and that the robots will neither be attacked, nor fall prey to earthquakes, traps or volcanoes. To enhance adaptability of unmanned robots working in dangerous environments, and increase their resistance, fault tolerance and immunity against outside disturbances, attack and damage, a bio-inspired computing model and control method was proposed to create an immune robot. This biological immune system was simulated, an immune computation model and immune control architecture for the robots was built, and self/non-self detection, recognition, learning, repair, robustness, and immunity were designed into the biological immune system. These techniques for immune robots can be used to detect, recognize and predict dangerous and variational environments, detect the states of the robots and repair them when they are in abnormal states, and carry out bio-inspired control of robots in extreme environments. These are significant theories which should lead to innovative technology and useful applications.