Potential Field Based Immune Network for Dynamic Motion Planning of Mobile Robots

This paper proposes a potential filed immune network for dynamic navigation of mobile robots in an unknown environment with moving obstacles and targets. The velocity obstacle method is utilized to determine imminent obstacle collision of a robot moving in the time-varying environment. The response of the overall immune network is derived by the aid of fuzzy system. Simulation results are presented to verify the effectiveness of the proposed methodology in unknown environments with single and multiple moving obstacles.