Biological Immune System Applications on Mobile Robot for Disabled People

To improve the service quality of service robots for the disabled, immune system is applied on robot for its advantages such as diversity, dynamic, parallel management, self-organization, and self-adaptation. According to the immune system theory, local environment condition sensed by robot is considered an antigen while robot is regarded as B-cell and possible node as antibody, respectively. Antibody-antigen affinity is employed to choose the optimal possible node to ensure the service robot can pass through the optimal path. The paper details the immune system applications on service robot and gives experimental results. 1. Introduction For recent years, the robots have already massively been applied in many fields. Service robots especially have developed rapidly to complete tasks for the humanity’s beneficial services. Recently, with the aging problem of the global community being increasingly serious, the service robots mainly for the elderly and the disabled have been a hot research focus. Li et al. [1] developed seven degrees of freedom movable nursing robot taking high paraplegia as the nursing object to help the patients fetch medicine, water, and books in nobody situations. Zhihua et al. [2] had presented a movable service robot with double working arms to serve the elderly and the disabled. For these service robots, path planning is an important issue. In large-scale environment with obstacles, path planning is to make the robot move along the optimal path and evade obstacles from a start position to the target location. The research of robot path planning was started at the middle of the 1960s. The interests in this area grew rapidly after the publication of Wesley [3] in 1979. From then on, many methods have been developed. There are many traditional methods, such as grid theory [4], potential field method [5], the genetic algorithm [6], and neural network [7]. Nowadays, immune system is receiving more attention and is realized as a new research hotspot of biologically inspired computational intelligence approach after the genetic algorithms, neural networks, and evolutionary computation in the research of intelligent systems [8]. It is now widely used in the fields such as data mining, network security, pattern recognition, learning, and optimization for the immune system has lots of appealing features such as diversity, dynamic, parallel management, self-organization, and self-adaptation. In this paper, biological system is applied on mobile robot to serve the disabled with better path. To ensure the service robot can pass through the