Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="416715.fig.004a" src="https://static.hindawi.com/articles/jcse/volume-2013/416715/figures/416715.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Path planning with RIN</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="416715.fig.004b" src="https://static.hindawi.com/articles/jcse/volume-2013/416715/figures/416715.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Path planning with PC-AIN</td></tr></table></td></tr></table>

<table>Mobile robot path planning with RIN and PC-AIN.</table>

Journal of Control Science and Engineering

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Figure 4

Figure 4: Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network 