一种基于免疫原理的自律机器人行为控制算法  

An Algorithm Based on Immue Principle Adopted in Controlling Behavior of Autonomous Mobile Robots

作　　者：刘克胜[1] 张军[1] 曹先彬[1] 王煦法[1] 

机构地区：[1]中国科技大学计算机系,合肥230026

出　　处：《计算机工程与应用》2000年第5期30-32,100,共4页Computer Engineering and Applications

基　　金：国家自然科学基金!69671029

摘　　要：生物体免疫系统是一个高度复杂的分布协调自适应系统。文章基于免疫学的细胞克隆选择学说和 Ｊｅｒｎｅ网络调节理论，介绍一种人工免疫系统模型及算法，并应用于自律移动机器人的行为控制研究，模拟实验结果表明，该算法能有效增强自律移动机器人在动态环境中的自适应能力。The Natural immune system is a high complex system with decentralized and adaptive. An model of artificial immune system and algorithm based on the Clonal selection theory and Jerne idiotypic network hypothesis are presented in this paper, and the proposed method applied to controlling behavior of an autonomous mobile robot. According to the results of simulation experiments, some good performances are shown in enhancing the capability of robot's against dynamically changing environment.

关 键 词：自律移动机器人 行为控制算法 免疫原理 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]