基于人工免疫网络的机器人局部路径规划

J4 ›› 2010, Vol. 45 ›› Issue (7): 122-126.

• 论文 • 上一篇

基于人工免疫网络的机器人局部路径规划

胡选子¹, 谢存禧²

1. 东莞职业技术学院计算机工程系, 广东东莞 523808; 2. 华南理工大学机械与汽车工程学院, 广东广州 510610

收稿日期:2010-04-02 出版日期:2010-07-16 发布日期:2010-09-06
作者简介:胡选子(1965-),男,高级工程师,博士,主要研究方向为计算智能、机器人及数据挖掘.Email:huxuanzi@126.com
基金资助:
东莞市2009年科技计划资助项目(200910814043)

A robot local path plan based on artificial immune network

HU Xuan-zi¹, XIE Cun-xi²

1. Department of Computer Engineering, Dongguan Polytechnic, Dongguan 523808, Guangdong, China;
2. School of Mechanical ＆ Automotive Engineering, South China University of Technology,
Guangzhou 510610, Guangdong, China

Received:2010-04-02 Online:2010-07-16 Published:2010-09-06

摘要/Abstract

摘要：

为解决复杂环境下机器人路径规划问题,提出了基于人工免疫网络(artificial immune network,AIN)的移动机器人局部路径规划算法。建立了AIN与机器人局部路径规划问题的映射关系,给出了算法流程,最后对提出的方法进行了仿真验证,并与人工势场法进行了比较,结果表明该方法在复杂障碍物环境下是可行和有效的。

关键词: 人工免疫网络;路径规划;机器人

Abstract:

To solve the problem of mobile robot path plan in the complex environment, artificial immune network(AIN) based mobile robot global path planning algorithm was presented. Relation between artificial immune network and robot local path plan was built, and the mobile robot path plan algorithm based on artificial immune system was proposed. The proposed algorithm was validated by simulation and compared with artificial potential field. Experimental results showed that the proposed approach was feasible and effective in the complex obstacle environment.

Key words: artificial immune network; path plan; robot

胡选子1, 谢存禧2. 基于人工免疫网络的机器人局部路径规划[J]. J4, 2010, 45(7): 122-126.

HU Xuan-zi1, XIE Cun-xi2. A robot local path plan based on artificial immune network[J]. J4, 2010, 45(7): 122-126.

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基于人工免疫网络的机器人局部路径规划

A robot local path plan based on artificial immune network

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