Research On The Immune Path Planning Of Multiple Mobile Robot Autonomous Navigation

With the rapid development and application of mobile robot technology, it is difficult for the traditional single robot system to meet the needs of multi task processing in complex environment, which promotes the research of the multiple robot cooperation system. At present, the multiple robot system is mainly applied to the cooperative transportation of multiple robots in large storage space, soccer robot, cooperative exploration and map building of multiple robots. A large number of researchers was attracted to the related technology of multiple robot system due to the wide application prospect. In this paper, aiming at the multiple robot system, we mainly research on the immune path planning technology in multiple robot autonomous navigation system.Path plannning technology is the mian research field of the autonomous navigation of mobile robot. Firstlly, the immune path planning technology has been researched in this paper, so as to realize the autonomous navigation of multiple robots. That is how to guide the robot to achieve a collision free path from the start point to the end point. In order to solve the local minimum problem of the robot path planning, a new immune planning algorithm incorporating specific immune mechanism has been proposed. On the basis of the idiootypic immune network, the immune system dynamic model has been improved, the new specific immune planning operaters and the new specific immune mechanism has been increased in the new algorithm. So as to guide the robot get out of the local minimum environment. Additionally, in the interest of improving the funciton of the immune path planning, a new immune path planning algorithm based on the secondary immune responses has been proposed. The secondary immune response mechanism has been introduced in the new algorithm without change the original configuration of the system. The immune behavior antibody has been expanded rapidly, which thining the move direction of the robot, and improve the immune planning performance.In order to achieve multiple robot autonomous navigation, the problem of environmental perception is important. In this paper, experiment platform of the multi-robot cooperation system has been built based on the distributed vision system. Thereby, information of the robot, obstacles and target could be acquired in real-time. In addition, in order to accurately check the irregular obstacles in the environment, with the multi-sensor in the robot, the heterotypic cell hybridization-based immune genetic algorithm has been researched in this paper, so as to accurately perceive the distribution condition of the obstacles. The multi-sensor fusion results of the proposed algorithm verified that the new algorithm may accurately perceive the obstacle distribution condition in the environment.In the end, on the basis of the experimental platform of the multiple robot system, all the multiple robot autonomous navigation algorithms have been verified, including the specific immune path planning algorithm and the secondary immune path planning algorithm. Experiment results indicate that both of the proposed new algorithms may guide the multiple robots realize the autonomous navigation, and have good path planning performance of the path planning length and the smoothness.