| Summary: | 碩士 === 國立虎尾科技大學 === 光電與材料科技研究所 === 99 === This thesis focuses on how to use the Artificial Immune System (AIS) to solve the obstacle-avoidance and path-planning problem of a robot in structural spaces. Like the immune system of organisms using different Antigen Presenting Cells (APCs) to test an Antigen in order to obtain enough information to produce a corresponding Antibody, an AIS treats the environment which the plant are encountering being an Antigen and employs sensors to collect environmental information to form APCs for further use. Every different kind of Antibody has different attractive force and repulsive force for the same kind of Antigen in the AIS. After calculation, the optimum Antibody for an Antigen (current environment) is obtained and transformed to appropriate control value to control the plant. Finally, by repeating the process, the control goal is achieved.
This research utilizes a differential wheeled mobile robot as the controlled plant and the environmental situation where the robot is situated in as the Antigen. Antigen Presenting Cells are being: (1) Laser Scanner measured distance between the surrounding obstacles and the robot, (2) the angle between the robot''s heading direction and the direction pointing to the destination. The distances of (1) are considered as repulsive forces and the angle of (2) is considered as an attractive force. The interaction result of the attractive force and repulsive force of the current situation is employed to select the best movement for the robot to take. Repeating previous steps, finally, the robot will successfully avoid the obstacles and reach the destination.
Simulation and experiment results show that the system can accomplish obstacles avoidance and reach the destination in variety of environments, proving that the feasibility of the method that this research provides.
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