| Summary: | 碩士 === 玄奘大學 === 資訊科學學系碩士班 === 97 === Concerning the robotic path planning problem, the robot has to move for reaching the target in the environment with obstacles. This thesis applies the artificial immune algorithm (AIA) for robotic path planning problem to find the optimal path in order to guide the robot to reach the target without collisions. AIA is a kind of evolutionary computation approach, and had been proven that its efficiency is better than genetic algorithm. Using the AIA, we can calculate the distance and included angle between the robot and obstacle, and the distance and included angle between the robot and target. After that, A* algorithm and the AIA is applied to find the shortest path and best steering angle. Through the simulations, we had demonstrated that the AIA can successfully guide the robot to reach the target without collisions.
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