Immune Navigation Control for Stigmergy based Foraging Behaviour of Autonomous Mobile Robots
| Authors: | Tsankova Diana, Technical University Sofia - branch Plovdiv, Bulgaria
Georgieva Velichka, Technical University Sofia - branch Plovdiv, Bulgaria
Zezulka Frantisek, Brno University of Technology, Czech Republic
Bradac Zdenek, Brno University of Technology, Czech Republic |
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| Topic: | 4.3 Robotics |
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| Session: | Autonomous Robots and Systems |
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| Keywords: | foraging behaviour, stigmergy, immune network, autonomous mobile robot |
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Abstract
The paper presents a series of experiments in a simulated environment where two autonomous mobile robots gather randomly distributed objects and cluster them into one pile. The coordination of the robots' movements is achieved through stigmergy (an indirect form of communication through the environment). In order to avoid the drawback of the random moves, necessary for stigmergy based foraging behaviour, the perceptive capabilities of the robots are enhanced by detectors for concentration of objects. An artificial immune network carries out the collision free goal following behaviour. Simulations confirm the improved performance of the foraging behaviour under the proposed immune navigation control.
