سال انتشار: ۱۳۹۱

محل انتشار: بیستمین کنفرانس سالانه مهندسی مکانیک

تعداد صفحات: ۴

نویسنده(ها):

A Eslami, – The Center of Excellence in Mechatronics, School of Engineering Emerging Technologies, University of Tabriz
V Azimirad –
S Asadi –

چکیده:

This paper illustrates a method to finding a global optimal path in a dynamic environment of known obstacles for a Mobile Robot (MR) to follow a moving target. Firstly, the environment is defined by using a practical and standard graph theory. Then, a suboptimal path is obtained by using Dijkstra Algorithm (DA) that is a standard graph searching method. The advantages of using DA are: elimination the uncertainness of heuristicalgorithms and increasing the speed, precision and performance of them. Finally, Continuous Clonal Selection Algorithm (CCSA) that is combined with Negative Selection Algorithm (NSA) is used to improve the suboptimal path and derive the global optimal path. To show the effectiveness of the method it is compared with some other methods in this area