关键词：光机电；机器人；路径规划；人工免疫算法
摘 要：Aim at local optimal problem in the path planning of mobile robot by artificial immune algorithm,it is proposed that the improved artificial immune algorithm of mobile robot path planning.Based on artificial immunity algorithm,the potential function method of an artificial potential field is used in this algorithm,improving randomness of the initial population of the artificial immune algorithm,then the algorithm make initial population turn to evolutionary operation through crossover,variance and selection operator to get optimum antibody.The simulation results showed that this algorithm is easy to get the optimal path,at the same time,increasing the speed of the path planning,and the length of the optimal path planning is less 28.5％ compare with the traditional immune algorithm.