An Immune Learning Classifier Network For Autonomous Navigation

This paper proposes a non-parametric hybrid system for autonomous navigation combining the strengths of learning classifier systems, evolutionary algorithms, and an immune network model. The system proposed is basically an immune network of classifiers, named CLARINET. CLARINET has three degrees of freedom: the attributes that define the network cells (classifiers) are dynamically adjusted to a changing environment; the network connections are evolved using an evolutionary algorithm; and the concentration of network nodes is varied following a continuous dynamic model of an immune network. CLARINET is described in detail, and the resultant hybrid system demonstrated effectiveness and robustness in the experiments performed, involving the computational simulation of robotic autonomous navigation. © Springer-Verlag Berlin Heidelberg 2003.27876980Booker, L.B., Goldberg, D.E., Holland, J.H., Classifier Systems and Genetic Algorithms (1989) Artificial Intelligence, 40, pp. 235-282De Castro, L.N., Timmis, J.I., (2002) Artificial Immune Systems: A New Computational Intelligence Approach, , Springer-Verlag: LondonDorigo, M., Colombetti, M., (1997) Robot Shaping: An Experiment in Behavior Engineering (Intelligent Robotics and Autonomous Agents), , MIT PressFarmer, J.D., Packard, N.H., Perelson, A.S., The Immune System, Adaptation and Machine Learning (1986) Physica, 22 D, pp. 187-204Härdle, W., (1990) Applied Nonparametric Regression, , Cambridge University PressHolland, J.H., (1992) Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence, , The MIT Press, Ann Arbor, MI.91Jerne, N.K., Towards a Network Theory of the Immune System (1974) Ann. Immunol. (Int. Pasteur), 125 C, pp. 373-389Learning Classifier Systems (2000) LNAI, 1813. , Lanzi, P. L., Stolzmann, W. & Wilson, S. W., editors From Foundations to Applications, Springer-Verlag, BerlinAdvances in Learning Classifier Systems (2001) LNAI, 1996. , Lanzi, P. L., Stolzmann, W. & Wilson, S. W., editors Springer-Verlag, BerlinMichelan, R., Von Zuben, F.J., Decentralized Control System for Autonomous Navigation based on an Evolved Artificial Immune Network (2002) Proc. of the CEC'2002, 2, pp. 1021-1026Nolfi, S., Floreano, D., (2000) Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines, , The MIT PressWatanabe, Y., Ishiguro, A., Uchikawa, H., Decentralized Behaviour Arbitration Mechanism for Autonomous Mobile Robot Using Immune Network (1999) Artificial Immune Systems and Their Applications, , D. Dasgupta (Editor), Springe