Plan on obstacle-A voiding path for mobile robots based on artificial immune algorithm

Abstract

This paper aims to plan the obstacle-avoiding path for mobile robots based on the Artificial Immune Algorithm (AIA) developed from the immune principle; AIA has a strong parallel processing, learning and memorizing ability. This study will design and control a mobile robot within a limited special scale. Through a research method based on the AIA, this study will find out the optimum obstacle-avoiding path. The main purpose of this study is to make it possible for the mobile robot to reach the target object safely and successfully fulfill its task through optimal path and with minimal rotation angle and best learning efficiency. In the end, through the research method proposed and the experimental results, it will become obvious that the application of the AIA after improvement in the obstacle-avoiding path planning for mobile robots is really effective. © Springer-Verlag Berlin Heidelberg 2007.