郑州轻工业学院学报（自然科学版）2012，Vol.27Issue(4)：1-5,5.DOI:10.3969/j.issn.1004-1478.2012.04.001
基于人工免疫网络理论的移动机器人路径规划
Mobile-robot path planning based on artificial immune network
摘要
Abstract
The mobile-robot path planning problem in static environment was studied. A approach based on artificial immune network to solve problems was presented and tested in Webots simulator. The method u-sing dynamics of artificial immune network determined the main action of robot. In the experiment, antibody and antigen were simulated as the behavior of robot and environment. The task used an artificial immune network ( AIN) to act as an independent behavior arbitration mechanism and hence provided effective and efficient task completion. Simulation experiments with the task phase demonstrated that it was effective for robot navigation in complex scenarios. A Webots simulator was used throughout the experiment. Results showed that high degree of autonomy, adaptability and flexibility could be achieved using this combined method.关键词
人工免疫网络/移动机器人路径规划/WebotsKey words
artificial immune network/ mobile-robot path planning/ Webots分类
信息技术与安全科学引用本文复制引用
过金超,刘征,崔光照..基于人工免疫网络理论的移动机器人路径规划[J].郑州轻工业学院学报（自然科学版）,2012,27(4):1-5,5.基金项目
河南省自然科学基金项目(092300410036) （092300410036）
