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A new motion planning approach for the mobile robot

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4 Author(s)
Xinying Xu ; College of Information Engineering, Taiyuan University of Technology, 030024, China ; Jun Xie ; Gang Xie ; Keming Xie

In this paper, we design a new motion planning approach for the mobile robot, which is based on an artificial immune evolution algorithm. Based on the nonholonomic constraint, the motion-planning problem of the mobile robot is transformed into an optimal control problem of the nonlinear system. Building the antibody coding and affinity function, the algorithm is described in detail and the simulation experiment is carried out. The experimental results indicate that the algorithm is effective and feasible applying to the optimal nonholonomic motion-planning problem of the mobile robot.

Published in:

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Date of Conference:

25-27 June 2008