Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td align="left">  Algorithm </td><td align="center"> PC-AIN </td><td align="center"> AIN</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td align="left"> Running time(s) </td><td align="center"> 6.37 </td><td align="center"> 8.13</td></tr><tr><td align="left"> Steps of path planning </td><td align="center"> 157 </td><td align="center"> 227</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Performance comparison of AIN and PC-AIN.

Journal of Control Science and Engineering

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Table 1

Table 1: Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network 