Immune–wavelet optimization for path planning of large-scale robots

摘要

SUMMARY In this paper an optimal path planning method based on a new evolutionary algorithm is presented for higher order robotic systems. It is a combination of immune system and wavelet mutation. By increasing the system's dimensions, the complexity of algorithm grows linearly. The obtained results have been compared with other optimal path producing algorithms, and its excellence in terms of optimality has been proved. Strengths of this method are simplicity in large-scale path planning, being free of most of the common deadlocks in usual method, and ability to obtain more optimized results than other similar methods. The effectiveness of this approach on simulation case studies for a three-link planar robot and 5 degrees of freedom mobile manipulators as well as an experiment for a mobile robot called K-joniour is shown.