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Trajectory tracking optimization of mobile robot using artificial immune system

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Abstract

In this paper, an optimization method that provides quick response using artificial immune system, is proposed and applied to a mobile robot for trajectory tracking. The study focuses on the immune theory to derive a quick optimization method that puts emphasis on immunity feedback using memory cells by the expansion and suppression of the test group rather than to derive a specific mathematical model of the artificial immune system. Various trajectories were selected in mobile environment to evaluate the performance of the proposed artificial immune system. The global inputs to the mobile robot are reference position and reference velocity, which are time variables. The global output of mobile robot is a current position. The tracking controller makes position error to be converged to zero. In order to reduce position error, compensation velocities on the track of trajectory are necessary. Input variables of fuzzy are position errors in every sampling time. The output values of fuzzy are compensation velocities. Immune algorithm is implemented to adjust the scaling factor of fuzzy automatically. The results of the computer simulation proved the system to be efficient and effective for tracing the trajectory to the final destination by the mobile robot.

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Acknowledgments

This research was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea Government (MISP)(2016R1A4A1011761). This research was conducted by the grant of Kwangwoon University, 2018.

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Authors and Affiliations

  1. School of Computer Science and Engineering, Soongsil University, Seoul, 07027, Republic of Korea

    Seongsoo Cho

  2. Department of Electronics Engineering, Kwangwoon Univerversity, Seoul, 01897, Republic of Korea

    Bhanu Shrestha

  3. Department of Applied Mathematics, Kongju National University, Kongju, 32588, Republic of Korea

    Wook Jang & Changho Seo

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  1. Seongsoo Cho
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  2. Bhanu Shrestha
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  3. Wook Jang
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  4. Changho Seo
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Correspondence to Bhanu Shrestha.

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Cho, S., Shrestha, B., Jang, W. et al. Trajectory tracking optimization of mobile robot using artificial immune system. Multimed Tools Appl 78, 3203–3220 (2019). https://doi.org/10.1007/s11042-018-6413-7

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  • DOI: https://doi.org/10.1007/s11042-018-6413-7

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