Mobile Robot Path Planning and Research in the Improved Artificial Immune Algorithm
Aim at local optimal problem in the path planning of mobile robot by artificial immune algorithm,it is proposed that the improved artificial immune algorithm of mobile robot path planning.Based on artificial immunity algorithm,the potential function method of an artificial potential field is used in this algorithm,improving randomness of the initial population of the artificial immune algorithm,then the algorithm make initial population turn to evolutionary operation through crossover,variance and selection operator to get optimum antibody.The simulation results showed that this algorithm is easy to get the optimal path,at the same time,increasing the speed of the path planning,and the length of the optimal path planning is less 28.5% compare with the traditional immune algorithm.
mobile robot path planning artificial immune algorithm field function immune evolutionary
Yuanbin HOU Wei Wang Xiaovue Lu
School of Electric and Control Engineering Xian University of Science and Technology Xian,China
国际会议
太原
英文
864-869
2012-01-13（万方平台首次上网日期，不代表论文的发表时间）