Autonomous micro-robot “Kity” for maze contest

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.