Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network
Figure 1
The graphic representation of the proposed path planning system. Antigen represents the local environment surrounding the robot. Antigen’s epitope represents a data set detected by sensors including the azimuth of the goal, the distance between obstacles and sensor, and the azimuth of sensor. Antibody represents robot’s steering direction. The interaction between antibodies is achieved by idiotope and paratope. Only the antibody with highest concentration will be selected to act on robot.