Method of action selection of an autonomous mobile robot using the immune networks

Akio Ishiguro, Yuji Watanabe, Yoshiki Uchikawa

Research output: Contribution to journalArticlepeer-review


Recently, in artificial intelligence technology, much attention has been focused on the approaches based on behavior (behavior-based AI) that demonstrate robustness and flexibility to dynamically changing environments. On the other hand, the immune system plays important roles in maintaining its own system in dynamically changing environments. Therefore, we believe that the immune system can provide a new paradigm suitable for dynamic problems dealing with unknown environments rather than static problems. We propose a new approach to behavior-based AI by focusing our attention to the biological immune system. The basic principle of our proposed method is that the immune system equipped with the robot selects the simple action (antibody) which is suitable for the current situation (antigen). We confirm the feasibility of our proposed method by applying it to the behavior control of an autonomous mobile robot in a cluttered environment as an example.

Original languageEnglish
Pages (from-to)2321-2328
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number598
Publication statusPublished - 1996
Externally publishedYes

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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