Artificial Immune System Based Path Planning of Mobile Robot

  • P. K. Das
  • S. K. Pradhan
  • S. N. Patro
  • B. K. Balabantaray
Part of the Studies in Computational Intelligence book series (SCI, volume 395)


Planning of the optimal path has always been the target pursued by many researchers since last five decade. Its application on mobile robot is one of the most important research topics among the scientist and researcher. This paper aims to plan the obstacle-avoiding path for mobile robots based on the Artificial Immune Algorithm (AIA) developed from the immune principle. An immunity algorithm adapting capabilities of the immune system is proposed and enable robot to reach the target object safely and successfully fulfill its task through optimal path and with minimal rotation angle efficiency. Finally, we have compared with the GA based path planning with the AIA based path planning. Simulation results show that the mobile robot is capable of avoiding obstacles, escaping traps, and reaching the goal efficiently and effectively by using AIA than GA.


Path planning Artificial immune algorithm Robotics Navigation GA 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • P. K. Das
    • 1
  • S. K. Pradhan
    • 2
  • S. N. Patro
    • 1
  • B. K. Balabantaray
    • 3
  1. 1.Dhaneswar Rath Institute of Engineering and Management Studies TangiCuttackIndia
  2. 2.College of Engineering and TechnologyBhubaneswarIndia
  3. 3.Synergy Institute of TechnologyBhubaneswarIndia

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