Path Planning For A Mobile Robot Using Immune Genetic Algorithm
碩士 === 明志科技大學 === 電機工程研究所 === 100 === The objective of the thesis is to find the shortest and obstacle avoidable optimal path in a known environment where obstacles exist by using the Immune Genetic Algorithm (IGA). A software tool, matlab/simulink, is adopted to simulate IGA and Genetic Algorithm (...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2012
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| Online Access: | http://ndltd.ncl.edu.tw/handle/86165862853868838720 |
| Summary: | 碩士 === 明志科技大學 === 電機工程研究所 === 100 === The objective of the thesis is to find the shortest and obstacle avoidable optimal path in a known environment where obstacles exist by using the Immune Genetic Algorithm (IGA). A software tool, matlab/simulink, is adopted to simulate IGA and Genetic Algorithm (GA) approaches in optimal path planning. The performance of these two approaches are then compared. It can be found that IGA has the advantages of faster convergence, less computation time and more suitable to implement for mobile robots. It demonstrates a feasibility of strategy to the application of real-time path planning in the near future.
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