A new motion planning approach for the mobile robot

Author

Xu, Xinying ; Xie, Jun ; Xie, Gang ; Xie, Keming

Author_Institution

Coll. of Inf. Eng., Taiyuan Univ. of Technol., Taiyuan

fYear

2008

fDate

25-27 June 2008

Firstpage

6168

Lastpage

6172

Abstract

In this paper, we design a new motion planning approach for the mobile robot, which is based on an artificial immune evolution algorithm. Based on the nonholonomic constraint, the motion-planning problem of the mobile robot is transformed into an optimal control problem of the nonlinear system. Building the antibody coding and affinity function, the algorithm is described in detail and the simulation experiment is carried out. The experimental results indicate that the algorithm is effective and feasible applying to the optimal nonholonomic motion-planning problem of the mobile robot.

Keywords

artificial immune systems; evolutionary computation; mobile robots; nonlinear control systems; optimal control; path planning; affinity function; antibody coding; artificial immune evolution algorithm; mobile robot; motion planning; nonholonomic constraint; nonlinear system; optimal control; Artificial immune systems; Control systems; Mobile robots; Motion planning; Motion-planning; Nonlinear control systems; Nonlinear systems; Optimal control; Technology planning; Wheels; immune evolution algorithm; mobile robot; motion planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4592792

Filename

4592792