AIS based Dynamic Obstacle Avoidance

Artificial Immune System Based Obstacle Avoidance Robot
This work was done at Robotics Lab, IIT Guwahati.

This AIS technique is based on Clonal Selection in which eligible antibodies are selected using positive selection while ineligible are discarded if pain generated by current antibody is more as compared to previous one or antibody was not able to complete all its behaviours (basic actions) due to some obstacle. The AIS is based on navigation of autonomous robots where unfavourable situations can occur comprising static, dynamic obstacles and dynamic robots. The robot tries to learn how to avoid obstacles and other robots by continuously eliminating ineligible antibodies. The antigen comprise of environmental conditional taken by ultrasonic sensors.