DocumentCode :
3216782
Title :
A mobile robot path planning using Genetic Artificial Immune Network algorithm
Author :
Bhaduri, Antariksha
fYear :
2009
fDate :
9-11 Dec. 2009
Firstpage :
1536
Lastpage :
1539
Abstract :
In this paper, the problem of finding the optimal collision free path, path planning for the case of a controllable mobile robot moving in a static environment filled with obstacles with known shape and size is studied. A path planner based on a hybrid memetic algorithm, genetic artificial immune network (GAIN), which provides near optimal collision free path is proposed. Genetic artificial immune network is a hybrid memetic algorithm based on genetic algorithm (GA) and artificial immune network (AIN) algorithm. The network cell structures are simple which makes the operators simple and results in a fast calculation with smaller number of cells. The results obtained from GAIN is compared with that of GA and GAIN is found to outperform GA in terms of convergence speed and result obtained, making it a promising algorithm for solving the mobile robot path planning problem.
Keywords :
artificial immune systems; collision avoidance; genetic algorithms; mobile robots; controllable mobile robot; genetic artificial immune network algorithm; hybrid memetic algorithm; mobile robot path planning; optimal collision free path; Biological cells; Costs; Evolutionary computation; Genetic algorithms; Mobile robots; Motion control; Optimal control; Path planning; Robot control; Shape control; Artificial Immune Systems; Genetic Algorithm; Genetic Artificial Immune Network; Memetic Algorithm; Mobile robots; Path planning; Robotics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Nature & Biologically Inspired Computing, 2009. NaBIC 2009. World Congress on
Conference_Location :
Coimbatore
Print_ISBN :
978-1-4244-5053-4
Type :
conf
DOI :
10.1109/NABIC.2009.5393670
Filename :
5393670
Link To Document :
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