Abstract：A Mobile Robots Path Planning Algorithm based on Immune Evolutionary Negative Selection (MRPPA-IENS) mechanism is proposed in this paper. This algorithm adopts negative selection operators to avoid the bad individuals’ generation during evolution, which can generate good individuals earlier and accelerate the algorithm’s convergence. Furthermore, MRPPA-IENS adopts the gene rearrangement operator to maintain the population’s diversity. The simulation experimental results demonstrate that the MRPPA-IENS algorithm proposed in this paper is an efficient mobile robots path planning algorithm and the performance of the algorithm is better than that of the traditional evolutionary algorithm when obstacles are perfectly known in static environment or partially known in dynamic environment.
张泽明; 罗文坚; 王煦法. 基于免疫进化非选择机制的移动机器人路径规划算法研究[J]. 电子与信息学报, 2007, 29(8): 1987-1991 .
Zhang Ze-ming; Luo Wen-jian; Wang Xu-fa . Research of Mobile Robots Path Planning Algorithm Based on Immune Evolutionary Negative Selection Mechanism. , 2007, 29(8): 1987-1991 .
2007, Vol. 29 
