Path Planning for Mobile Robot by Using the Enhanced Artificial Immune Algorithm

• Main Authors: Sin-yi Jhuo, 卓新怡
• Other Authors: Yen-nien Wang
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/11480412760891770768

碩士 === 龍華科技大學 === 電子工程研究所 === 96 === The biological immune system contains learning and adaptation abilities. In this study, the Enhanced Artificial Immune Algorithm is combined of Artificial Immune Algorithm with Artificial Potential Field. Artificial Potential Field can consider the situation and let mobile robot respond to dodge the obstacle, when mobile robot will comes closing to the obstacle; on the other hand, the response of mobile robot will be organized of Artificial Immune Algorithm. The mobile robot can reach the goal in complex environment. Finally, this study uses simulation and experiment to prove that can perform kinds of Artificial Immune Algorithm effective avoiding obstacle and capturing target.