GUO Jin-chao, LIU Zheng and CUI Guang-zhao. Mobile-robot path planning based on artificial immune network[J]. Journal of Light Industry, 2012, 27(4): 1-5. doi: 10.3969/j.issn.1004-1478.2012.04.001
Citation:
GUO Jin-chao, LIU Zheng and CUI Guang-zhao. Mobile-robot path planning based on artificial immune network[J]. Journal of Light Industry, 2012, 27(4): 1-5.
doi:
10.3969/j.issn.1004-1478.2012.04.001
Mobile-robot path planning based on artificial immune network
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Received Date:
2011-12-08
Available Online:
2012-07-15
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Abstract
The mobile-robot path planning problem in static environment was studied.A approach based on artificial immune network to solve problems was presented and tested in Webots simulator.The method using dynamics of artificial immune network determined the main action of robot.In the experiment,antibody and antigen were simulated as the behavior of robot and environment.The task used an artificial immune network (AIN) to act as an independent behavior arbitration mechanism and hence provided effective and efficient task completion.Simulation experiments with the task phase demonstrated that it was effective for robot navigation in complex scenarios.A Webots simulator was used throughout the experiment.Results showed that high degree of autonomy,adaptability and flexibility could be achieved using this combined method.
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Proportional views
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