Soccer Robot Path Planning Based On Particle Swarm Optimization Immune Algorithm

Soccer robot is a multi-agent, distributed artificial intelligence research platform which isin one set of control theory,communication technology, image processing, computerapplications, artificial intelligence and other disciplines. It appears to promote thedevelopment of materials engineering, electrical engineering, life sciences and otherdisciplines and propose a new iconic and challenging topics for intelligent robots. Pathplanning is an important part of robot soccer decision-making subsystem, It will directlyaffect the outcome of the game. The main research is soccer robot global real-time pathplanning,purposing to making the robot from the ball loction to the goal can effectively avoidobstacles and get a shortest path.The content of this research is as follow.1. Gave a brief description of soccer robot system and the mathematical model of therobot car,and given the path planning design of the shortest path and collision-free asevaluation criteria, and the overall design concept of the corresponding path planningalgorithm.2. Introducting the basic principle of the standard PSO and algorithm flow, as well as thebiological basis of the artificial immune algorithm. and detailing improve ideological andconcrete steps of the several popular improved PSO algorithm, and introducing the designideas of the several typical artificial immune algorithm. In addition to do an overview of theapplications of PSO algorithm and immune algorithm.3. A study on the general steps and computation mechanism of the PSO algorithm andimmune algorithm. And proposes the PSO immune algorithm, then gives a detailedexplanation of its operation steps and optimization mechanism,the PSO immune algorithmCompared to the standard PSO algorithm has higher convergence precision as well as theadvantages of faster than the immune algorithm convergence by the simulation.4. Research on modeling method of robot soccer competition environment,and using thethe standard PSO algorithm and immune algorithm and PSO immune algorithm which isCombined with the advantages of the standard PSO algorithm and immune algorithm isproposed in this paper for the soccer robot global path planning. And a detailed description ofthe concrete steps of the PSO immune algorithm in the path planning, the PSO immunealgorithm is effectiveness is proved by comparing and analyzing the results of the threealgorithm.5. Introducing the design method based on MATLAB GUI, then developing a pathplanning simulation analysis system based on PSO immune algorithm.and details of thedesign scheme and the design process, as well as explaining some part of the program, thissimulation analysis system can help a variety of mobile robot do offline path planning,and provides a convenient and simple visual analysis software to the applications of the PSOimmune algorithm.