改进型人工免疫算法的移动机器人路径规划研究-控制理论与控制工程专业论文.docxVIP

Subject : Mobile Robot Path Planning and Research in the Improved Artificial Immune Algorithm Specialty : Control Theory and Control Engineering Name : Wang Wei (Signature) Instructor : Hou Yuanbin (Signature) ABSTRACT Mobile robot system as a typical multi-agent system, it is provides a good experimental platform of the intelligent theory and integration of multiple technologies applications . Therefore, as an important factor in intelligent robots - path planning is very important. The main research topic is the content of the soccer robot research platform, The actual process and special state environment in soccer, complete soccer robot to find the target, obstacle actions such as avoidance. Solve the path planning process may be easy to fall into local optimal solution and the deadlock in traditional algorithm. Robot path planning is a very complex issue, not only to find a collision-free shortest path, but also requires the path as smooth as possible and to meet certain security. This article use the soccer robot subject group of Xian university of science and technology as research platform, First introduced the composition and structure and software platform of soccer robot ,and focused on the transformation of power system, Second, describes the robot path planning traditional algorithm and intelligent planning algorithm, Based on the analysis of the current advantages and disadvantages of various path planning algorithm, Thus proposed a path planning algorithm based on modified artificial immune mobile robot. For static path planning, using the grid method to establish the space mathematical model, and then using the artificial potential field to establish the initial path population of artificial immune algorithm, optimize the mutation operator, proposed a new affinity function, introduced vaccination, the immune mechanisms such as crossover and mutation, allowed better individuals to an earlier generation, Thus ensuring the convergence speed and di