基于体液免疫的机器人路径规划免疫算法

依据生物免疫中体液免疫原理，提出一种新的移动机器人路径规划免疫算法。针对机器人在已知环境下的运行特性，对其设计路径光滑性指标及依据神经网络设计碰撞行为评价指标，将路径规划问题转化为非约束优化，进而结合体液免疫应答机制，获得路径规划新方法。该算法的特点是具有并行及快速搜索的能力，对机器人初始路径无任何约束。对各种难易不同的初始和目标位置，均能保证获无碰最优路径。仿真事例获知此算法的有效性。

Immune Algorithm Based on Humoral Immunity for Mobile Robotic Path Programming

A novel immune algorithm applied to mobile robotic path programming is proposed based on humoral immunity principle. The programming problem with known obstacle space, by introducing flexibility function and obstacle one according to artificial neural network, is transferred into non-constrained optimization to be solved through the algorithm capable of parallel and rapid search optimal path and independent of selected initial paths, robotic initial and goal positions. Its convergence is endured. The simulation shows its availability.