Mobile Robot Navigation Using Artificial Immune System

Abstract

The path planning is one of the most important aspects of mobile robot navigation. Many approaches have been developed to solve this problem. The present research work aims to model immunized system architecture for path planning of autonomous mobile robots for collision free path. Path planning of mobile robot or robots means a collision free trajectory estimation and reaching its destination.
The environment may be vast, imprecise, dynamic or static, structured or unstructured and cluttered or uncluttered. In such cases the path planning depends on the sensory information which may or may not be precise. Hence for robots to navigate through cluttered environment they must be adaptive in nature. In this research work immune system motivated motion planner has been used to do the same. Environment situations are dissected into various sub situations and pre-engineered robotic actions are programmed into the robot. Whenever a situation is sensed by the robot’s sensors a suitable robotic action out of the programmed actions is taken to evade it. Then again another situation is eluded with another robotic action and the sequence continues till the robot reaches its destination. At the end, the motion planner is executed in simulated environment. It is executed for both single and multiple robot system.