Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network
Joint Authors
Gu, Jason
Deng, Lixia
Li, Yibin
Ma, Xin
Source
Journal of Control Science and Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-09-29
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
Polyclonal based artificial immune network (PC-AIN) is utilized for mobile robot path planning.
Artificial immune network (AIN) has been widely used in optimizing the navigation path with the strong searching ability and learning ability.
However, artificial immune network exists as a problem of immature convergence which some or all individuals tend to the same extreme value in the solution space.
Thus, polyclonal-based artificial immune network algorithm is proposed to solve the problem of immature convergence in complex unknown static environment.
Immunity polyclonal algorithm (IPCA) increases the diversity of antibodies which tend to the same extreme value and finally selects the antibody with highest concentration.
Meanwhile, immunity polyclonal algorithm effectively solves the problem of local minima caused by artificial potential field during the structure of parameter in artificial immune network.
Extensive experiments show that the proposed method not only solves immature convergence problem of artificial immune network but also overcomes local minima problem of artificial potential field.
So, mobile robot can avoid obstacles, escape traps, and reach the goal with optimum path and faster convergence speed.
American Psychological Association (APA)
Deng, Lixia& Ma, Xin& Gu, Jason& Li, Yibin. 2013. Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network. Journal of Control Science and Engineering،Vol. 2013, no. 2013, pp.1-13.
https://search.emarefa.net/detail/BIM-470467
Modern Language Association (MLA)
Deng, Lixia…[et al.]. Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network. Journal of Control Science and Engineering No. 2013 (2013), pp.1-13.
https://search.emarefa.net/detail/BIM-470467
American Medical Association (AMA)
Deng, Lixia& Ma, Xin& Gu, Jason& Li, Yibin. Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network. Journal of Control Science and Engineering. 2013. Vol. 2013, no. 2013, pp.1-13.
https://search.emarefa.net/detail/BIM-470467
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-470467