Thesis Defense Announcement for Elakiya Jayaraman — 04/26/2021 at 1:00 PM

April 7, 2021

Faculty and Students,

You are cordially invited to my thesis defense.

Title: Annealing Enabled Immune System Algorithm for Multi-Waypoint Navigation

When: Monday, April 26th at 1:00 p.m.

Where: Webex (

Candidate: Elakiya Jayaraman

Degree: Masters, Electrical and Computer Engineering


Dr. Chaomin Luo
(Major Professor )

Dr. John Ball
(Committee Member)

Dr. Seungdeog Choi
(Committee Member)

Dr. Chun-Hung Liu
(Committee Member)


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 goals (waypoints) with the shortest path while avoiding obstacles. In this thesis, we propose Immune System Algorithm (ISA) based algorithm and two hybrids based on AIS associated with Simulated Annealing (SA) algorithm and Voronoi Diagram (VD) for real-time map building and path planning for multi-goal applications. The proposed hybrid ISA model integrated with SA or VD algorithm aims to generate paths while a mobile robot explores through terrain with map building in unknown environments. A global route is first planned by the ISA, before the created path is used to guide the robot to multiple waypoints following the foraging trail. An ISA-based point-to-point navigator is also developed and tested here which is used to navigate the robot along a collision-free global route from one waypoint to another to connect all the goals. A histogram-based local navigation algorithm is utilized as reactive navigation to avoid obstacles along the trail planned by the global path planner. We explore the ISA model through simulation and comparison studies to demonstrate the capability of the proposed hybrid model of ISA and SA or ISA and VD algorithms in achieving a global route with minimized overall distance.  Simulation and comparison studies validate the efficiency and effectiveness of the proposed hybrid models that concurrent multi-waypoint navigation with obstacle avoidance and mapping of an autonomous robot is successfully performed under unknown environments.

Keywords:  Immune System Algorithm, Simulated Annealing, Voronoi Diagram, Path Planing, Multi-waypoint Path Planning, Point-to-point Navigator.