RETRACTED: Artificial Immune Algorithm based Robot Obstacle-Avoiding Path Planning (Retracted Article)

Planning of the optimal path has always been the target pursued by many researchers, and its application in mobile robot is one of the most important research topics. This paper aims to plan the obstacle-avoiding path for mobile robots based on the Artificial Immune Algorithm (AIA) developed from the immune principle. This paper analyzes the motion characteristic of the car-like autonomous mobile robot. 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. Simulation results show that the mobile robot is capable of avoiding obstacles, escaping traps, and reaching the goal efficiently and effectively.