Path Planning of Mobile Robot Based on Artificial Immune Potential Field Algorithm

摘要

The basic Artificial Potential Field (APF) and the basic Genetic Algorithm (GA) for path planning of the mobile robot gets into goals nonreachable and the local minimum value.The paper puts forward a novel algorithm for path planning of mobile robot based on artificial immune potential field algorithm (MRPP- AIPF).The algorithm divides dynamically initial antibody population into memory reservation unit and temporary antibody unit.Furthermore,it adopts cross,mutation and forgotten operators to improve convergence ability and remain diversity of antibody population.The simulation indicates that MRPP-AIPF is effective.