Immune Algorithm Based on Humoral Immunity for Mobile Robotic Path Programming

A novel immune algorithm applied to mobile robotic path programming is proposed based on humoral immunity principle. The programming problem with known obstacle space, by introducing flexibility function and obstacle one according to artificial neural network, is transferred into non-constrained optimization to be solved through the algorithm capable of parallel and rapid search optimal path and independent of selected initial paths, robotic initial and goal positions. Its convergence is endured. The simulation shows its availability.