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An Idiotypic Immune Network as a Short-Term Learning Architecture for Mobile Robots

  • Amanda Whitbrook
  • Uwe Aickelin
  • Jonathan Garibaldi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5132)

Abstract

A combined Short-Term Learning (STL) and Long-Term Learning (LTL) approach to solving mobile robot navigation problems is presented and tested in both real and simulated environments. The LTL consists of rapid simulations that use a Genetic Algorithm to derive diverse sets of behaviours. These sets are then transferred to an idiotypic Artificial Immune System (AIS), which forms the STL phase, and the system is said to be seeded. The combined LTL-STL approach is compared with using STL only, and with using a hand-designed controller. In addition, the STL phase is tested when the idiotypic mechanism is turned off. The results provide substantial evidence that the best option is the seeded idiotypic system, i.e. the architecture that merges LTL with an idiotypic AIS for the STL. They also show that structurally different environments can be used for the two phases without compromising transferability.

Keywords

Mobile Robot Artificial Immune System Autonomous Navigation Idiotypic Network Simulated World 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Amanda Whitbrook
    • 1
  • Uwe Aickelin
    • 1
  • Jonathan Garibaldi
    • 1
  1. 1.School of Computer ScienceUniversity of NottinghamUK

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