Implementation of An Artificial Immune System on a Mobile Robot

The research focuses on the implementation of an algorithm that enables a robot to navigate autonomously while performing a simple function of Obstacle Avoidance. The algorithm used here is the Idiotypic Artificial Immune Algorithm A program is created using Visual C++, which generates random antibodies for an antigen. The winning antibody is chosen from the randomly generated antibodies based on its affinity toward the given antigen. The winning antibody is not always a perfect match to neutralize the effects of the antigen. The functionality of the concept is proven through the implementation of the algorithm on a Pioneer 3DX robot. Numerous issues caused during implementation were solved