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.002a" src="https://static.hindawi.com/articles/jcse/volume-2013/416715/figures/416715.fig.002a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b> Some or all individuals tend to the same extreme value</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="416715.fig.002b" src="https://static.hindawi.com/articles/jcse/volume-2013/416715/figures/416715.fig.002b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Robot moves wrongly with AIN</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="416715.fig.002c" src="https://static.hindawi.com/articles/jcse/volume-2013/416715/figures/416715.fig.002c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>PC-AIN for path planning</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="416715.fig.002d" src="https://static.hindawi.com/articles/jcse/volume-2013/416715/figures/416715.fig.002d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>The selected antibody of AIN and PC-AIN at every step</td></tr></table></td></tr></table>

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

Journal of Control Science and Engineering

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Figure 2

Figure 2: Mobile Robot Path Planning Using Polyclonal-Based Artificial Immune Network 