| Autor: |
Mohanty, Prases K., Kodapurath, A. A., Singh, Rishi Kumar |
| Zdroj: |
Iranian Journal of Science and Technology. Transactions of Electrical Engineering; 20240101, Issue: Preprints p1-13, 13p |
| Abstrakt: |
To solve the problem of obstacle avoidance for mobile robot in an unknown environment, an algorithm is proposed in this article which uses both the idiotypic network theory and clonal selection theory of the artificial immune system. While the former is used for navigation in general, the latter comes into effect during local minima situations. Also, a modified version of Farmer’s equation for Jerne’s idiotypic network model has been used to determine the antibody concentrations. The simulation results for navigation using the proposed algorithm are presented. The results proved that our mechanism is capable of successfully avoiding various types of obstacles including the local minima traps. A comparative study between the proposed algorithm and various other algorithms is also presented. Finally, experimental validation of the simulation results for the proposed algorithm is carried out using a physical robot. |
| Databáze: |
Supplemental Index |
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