Autonomous micro-robot "Kity" for maze contest

Abstract

A table-look-up immune network is proposed to

solve problems arising from autonomous microrobots trying

to achieve a given goal with limited memory and calculation

capacity. The method is implemented and tested with

a microrobot "Kity", with a size of less than 1 cubic inch.

It is possible to generate enough rules to make the robot

achieve the goal of navigating freely in a maze with a small

number of sensors. Experimental results show the efficacy

of immune networks in controling robots in restricted environments.

Kity demonstrated the efficiency of the associated

algorithm arrived at by winning first prize at the 4th

and 5th International Microrobot Maze Contests held in

Nagoya, Japan, in October, 1995 and 1996.