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Assignment #01 (Robotics) Biological Immune System Applications On Mobile Robot For Disabled People

This document summarizes a research paper that applies biological immune systems to mobile service robots to help disabled people. It proposes using an immune system-inspired technique called optimal path planning. This technique models the local environment obstacles as antigens and the robot's position as an antibody to calculate affinity and plan the optimal path with no collisions. Experiments showed this biological immune system approach improved path planning over other current techniques when using a robot and wheelchair.

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Sohaib Sajid
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41 views3 pages

Assignment #01 (Robotics) Biological Immune System Applications On Mobile Robot For Disabled People

This document summarizes a research paper that applies biological immune systems to mobile service robots to help disabled people. It proposes using an immune system-inspired technique called optimal path planning. This technique models the local environment obstacles as antigens and the robot's position as an antibody to calculate affinity and plan the optimal path with no collisions. Experiments showed this biological immune system approach improved path planning over other current techniques when using a robot and wheelchair.

Uploaded by

Sohaib Sajid
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Assignment #01

(Robotics)
Biological Immune System Applications on Mobile Robot for
Disabled People

Submitted by: Syed Ibtisam Ashraf


2015-MC-06
Submitted to: Dr. Ali Raza

DEPARTMENT OF MECHATRONICS & CONTROL ENGINEERING


University of Engineering and Technology, Lahore.
SUMMARY

Immune System is a host defense system comprising many biological structures


and processes within an organism that protects against various diseases.
Antigens are foreign particles which are capable of generating an immune
response in the body. An antibody is a large, Y-shaped protein used by the immune
system to neutralize pathogens such as pathogenic bacteria and viruses. Service
Robots assist human beings, typically by performing a job that is dirty, dull, distant,
dangerous or repetitive, including household work. Affinity measures the strength
of interaction between an antibody and an antigen binding site.
In this research paper, biological immune system is applied on service robots for the
improved quality and to effectively use them for helping disabled people.The
functionality is improved in this particular application by Optimal Path Planning
by adaptation of immune system, a technique new and trending for research
purposes.
Optical path planning is employed to ensure that there is no any collision between
the robot and the obstacles. In this technique, Admissible Space Tree is presented
to demonstrate the motion of robot from current position to targeted node having
large affinity (attraction between antibody and antigen).Here the targeted node is
taken as antibody and the local environmental information surrounding the obstacle
is taken as antigen. After considering this, using immune system theory, affinity of
service robot system (g(ob¡))is calculated. The larger the affinity, the better the robot
can serve. After experiments performed on Robot and on wheelchair, it is obvious
that in both cases, the optimal path using path planning strategy gives better results
as compared to other path planning techniques currently in use.

HYPOTHESIS
The concept behind this research includes the notion that using Biological Immune
System methodoloy, path planning is optimized in case of mobile robots usage
especially in helping disabled persons.
METHODOLOGY

Enviornment Recognition

AST Generation Possible Nodes Acquirement Node Update Rules

Affinity Comparison of Affinity Calculation Anti-body and anti-gen


Different Anti-Body Selection

Choose largest anti-body Topology Map Construction


as the target

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