Artificial Immune Algorithm Based Obstacle Avoidance Path Planning of Mobile Robots

• Main Authors: Sho-Hsuan Hsu, 徐浩軒
• Other Authors: Yen-Nien Wang
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/56878868764701855507

碩士 === 龍華科技大學 === 電子系碩士班 === 93 === This thesis studies the applicability of using mobile robots with artificial immune algorithm (AIA) based obstacle-avoiding path planning inside a specified environment in real time. The car leaves by oneself must reach the designated place and finish the work in a situation that a lot of external environments are interfered. The method seeks to find the optimal path. The presented method is the artificial immune algorithm controlling the mobile robot for decreasing the distance to prevent the obstacle from arriving the goal position. In order to distinguish objects according to the color, this thesis adopts model of RGB and model of YCbCr. AIA is applied to determine the position and the angle between a mobile robot, an obstacle and the goal in a limited field. The objectives are to minimize the length of the path and the number of turns. Transmit the respect in the wireless, this thesis adopts bluetooth to transmit the data to communicate, the mobile robot array the anticipated position. The experiment simulation of MATLAB, it performs kinds of artificial immune algorithm can effective up to the anticipated resulting to prove.