基于免疫算法的多机器人自主协作路径规划

ABSTRACTAUTONOMOUS COOPERATIVE PATH PLANNING OF MULTI-ROBOT BASED ON IMMUNE ALGORITHM METHODABSTRACTRobotics has become a focus of research topic in the control field,and path planning is acore issue of the robotics.In recent years,both domestic and foreign experts access goodresults to path planning research in robotics.The research of path planning is from the staticand simple environment to complex and dynamic environment,and then by a single robot tomultiple robots in the research,gradually different intelligent methods are applied to pathplanning of the robotics.In this paper,we carried out robot path planning and its related keytechnologies and research study,especially path planning based on immune algorithm as akey part in the study.The main research contents are as follows:At first,this paper has a brief overview to multi-robot system,describes the moreadvantages of the multi-robot than a single robot,and introduces its current status and trends.Then it is focus on the realization of the classification and methods of path planning.Secondly,this paper summarizes three different intelligent methods,including theartificial potential field method,genetic algorithm,and immune algorithm in the research ofthe robot path planning,and focuses on the biological mechanism and its basic concepts of theimmune algorithm.It describes in detail the principle and implementation of immunealgorithm,the design of the immune algorithm is including environment modeling,antibodyinitialization and coding,the design of affinity function,then ensure diversity and mature ofthe antibody.At the same time,to the deficiencies of immune algorithm,we propose thatcombine artificial potential field method with immune algorithm,and apply this method tomost optimal path planning.Finally,it introduces the game of soccer robot and the system.The soccer robot systemis a good platform for the research of the multi-robot system,which requires coordination andcooperation between multiple robots.Then it is to achieve autonomous cooperative pathplanning of the multi-robot,and introduces several simulated robot soccer simulation system,and select one of the robot soccer simulation software to simulate the competition.Key Words:Multi-robot systems,Path planning,Immune algorithm,Soccer robot system