Immune genetic path planning algorithm based on track safety evaluation
基于轨迹安全性评价的免疫遗传路径规划算法

Focused on the problems of the trajectory planning safety and the local minimum points in mobile robot grid path planning, this paper proposed an immune genetic path planning algorithm based on the track safety evaluation. It combined APF model and track safety evaluation. It used the repulsive force field intensity to evaluate the track safety, established the fitness function based on the track safety and put forward the driving price assessment. It achieved adaptive optimal estimation of the force field parameters of APF model by using the immune genetic algorithm, and avoided the local minimum effectively through controlling the parameter change in a reasonable interval. At the same time, it improved the path safety. The simulation experiments show the effectiveness of the algorithm.