The Study On Autonoumous Mobile Robot Path Planning

The invention of robot is one of important achievements human science achieved in recent decades. The rapid progress of robotics brings human society great change. The role of robot in the human society is changing from traditional military, industrial robot to civil, service robot. Service robot is kind of robot system which works with concrete environment and task. Its moving space is big, usually belonging to mobile robot.The goal of mobile robot is move with object and finish task under the condition which there is no artificial effect, nothing is required for environment and changed. So path planning is one of the important precondition and condition whether mobile robot can finish the task successfully. Being intelligent and automatic is one of the development trends, that is the autonomous mobile robot.With the continuous research of many scholars and engineer on the operation mechanism of nature biology, the intelligent control theory which representing by neural network, evolution computation and artificial immune is applying to the auto control field and supplying new ways and methods to solve the realistic control problems. Likewise, these intelligent control theories can also be applied to the path planning of the mobile robot. So the development ofartificial intelligent technology has great impacts on the robot application.This paper takes the mobile robot as research object, mainly researches on the path planning of it under different environment. The main job including:First researches the neural network and focuses on BP neural network. Analyze the character, structure and limitation of BP network.Second introduces the biology immune system simply. Tells the theory and algorithm about artificial immune system. Researches and tells the character and mechanism of immune system. Propose immune evolution algorithm integrated with evolution computation. The algorithm combines the character of immune algorithm and evolution computation, combines the evolution plan with the consistence mechanism and individual diversity keeping polices of biology immune system. It not only regards the fitness between antigen and antibody, also between antibodies. Then constructs the choose of antibody based on them. It can reserves the global search character of evolution plan, also enhances the individual's ability of adapting environment and avoids the prematureconvergence.Finally researches the path planning of robot, applies both neural network and immune evolution algorithm to the path planning of robot. Constructs the description model of environment and obstacle with neural network. Asks for the best path with immune evolution algorithm. Simulates the experiment on the soccer robot platform. The experiment result has shown that the method used in path planning is valid and feasible.