Abstract
Planning of the optimal path has always been the target pursued by many researchers since last five decade. Its application on mobile robot is one of the most important research topics among the scientist and researcher. This paper aims to plan the obstacle-avoiding path for mobile robots based on the Artificial Immune Algorithm (AIA) developed from the immune principle. An immunity algorithm adapting capabilities of the immune system is proposed and enable robot to reach the target object safely and successfully fulfill its task through optimal path and with minimal rotation angle efficiency. Finally, we have compared with the GA based path planning with the AIA based path planning. Simulation results show that the mobile robot is capable of avoiding obstacles, escaping traps, and reaching the goal efficiently and effectively by using AIA than GA.
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Das, P.K., Pradhan, S.K., Patro, S.N., Balabantaray, B.K. (2012). Artificial Immune System Based Path Planning of Mobile Robot. In: Patnaik, S., Yang, YM. (eds) Soft Computing Techniques in Vision Science. Studies in Computational Intelligence, vol 395. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25507-6_17
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DOI: https://doi.org/10.1007/978-3-642-25507-6_17
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