Jiangsu ocean university
The paper proposes a immune mechanism based path planning algorithm of deterministic mobile robot for the contradiction between the certainty of mobile robot path planning and the search space of the algorithm. Firstly, In this paper, for ensuring the positive solution space is fully covered by the initial point of the path and the secondary node, a initial antibody population is constructed by vaccine heuristic rule in the positive environment space, which is determined by perpendicular line of the initial point and the target point of the path. Then Antibody cloning was carried out according to the number of positive tangent points, and the subsequent node was reconstructed and mutated under the inspiration of vaccine. In addition, the improvement rate of single-point antibody reconstruction is presented to dynamically adjust the number of antibodies and expand the search space of antibodies. To realize the deterministic path search, the algorithm uses the number of antibody nodes to judge the mutation times of antibody and decided the evolution times of antibody population. Finally, the proposed algorithm is compared with other algorithms in different working condition. The results verify the new algorithm"s certainty and effectiveness, and the optimal solution is balanced between the path distance and the steering cost, which is more in line with the motion requirements of the mobile robot.