Clonal selection based mobile robot path planning

摘要

Clonal selection based mobile robot global path planning method is presented in the article, which is composed of encoding of antibody, fitness function construct, selection strategy and immune operator definition. Path distance and degree of intersecting with obstacle are both considered in the definition of fitness function. Mutation operator, insert operator and delete operator are designed according to the problem of mobile robot path planning. Mutation is different in genetic algorithm (GA) from in clonal selection, In the GA, mutation aims improving diversity of population, while in the clonal selection, mutation aims accelerating convergence of algorithm. The algorithm proposed in the paper spends less time and have better result of path planning than GA. The efficiency of proposed method is validated by simulation with MATLAB.