Immune System Algorithms to Environmental Exploration of Robot Navigation and Mapping.

In real-world applications such as rescue robots, service robots, mobile mining robots, and mine searching robots, an autonomous mobile robot needs to reach multiple targets with the shortest path. This paper proposes an Immune System algorithm (ISA) for real-time map building and path planning for multi-target applications. Once a global route is planned by the ISA, a foraging-enabled trail is created to guide the robot to the multiple targets. A histogram-based local navigation algorithm is used to navigate the robot along a collision-free global route. The proposed ISA models aim to generate a path while a mobile robot explores through terrain with map building in unknown environments. In this paper, we explore the ISA algorithm with simulation studies to demonstrate the capability of the proposed ISA in achieving a global route with minimized overall distance. Simulation studies demonstrate that the real-time concurrent mapping and multi-target navigation of an autonomous robot is successfully performed under unknown environments.