A Metaheuristic Artificial Immune System Algorithm for Mobile Robot Navigation

Author

Hsu Chih Huang ; Ter Feng Wu ; Chun Yu Huang

Author_Institution

Electr. Eng., Nat. Ilan Univ., Yilan, Taiwan

fYear

2014

fDate

27-29 Aug. 2014

Firstpage

803

Lastpage

806

Abstract

This paper presents a metaheuristic artificial immune system (AIS) algorithm for mobile robot navigation in a structured environment with obstacles. The generated collision-free path is optimal in the sense of the shortest distance by defining the performance index. The initial feasible path generated from the AIS planner is then smoothed using the cubic B-spline technique, in order to construct a near-optimal collision-free continuous path. Simulations results are conducted to show the merit of the proposed AIS path planner and smoother for global path planning of autonomous robot navigation.

Keywords

artificial immune systems; collision avoidance; mobile robots; path planning; performance index; splines (mathematics); AIS path planner; autonomous robot navigation; cubic B-spline technique; global path planning; metaheuristic AIS algorithm; metaheuristic artificial immune system algorithm; mobile robot navigation; near-optimal collision-free continuous path; performance index; shortest distance; structured obstacle environment; Algorithm design and analysis; Immune system; Mobile robots; Navigation; Path planning; Splines (mathematics); Artificial immune system; global path planning; mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Information Hiding and Multimedia Signal Processing (IIH-MSP), 2014 Tenth International Conference on

Conference_Location

Kitakyushu

Print_ISBN

978-1-4799-5389-9

Type

conf

DOI

10.1109/IIH-MSP.2014.203

Filename

6998449