Research of mobile robots path planning algorithm based on immune evolutionary negative selection mechanism

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.