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