Motion Control of Mobile Robot Based on Immune Clonal Algorithm Evolved by Virus

Motion Control of Mobile Robot Based on Immune Clonal Algorithm Evolved by Virus

To solve the motion control of mobile robot, a PID control optimized by improved immune clonal algorithm is presented. On the basis of immune clonal algorithm, a new virus evolutionary clonal algorithm (VECA) is provided firstly. The VECA focuses on the virus infection of population after immune mut...

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Veröffentlicht in:Applied Mechanics and Materials 2012-01, Vol.143-144, p.269-273
Hauptverfasser: Yuan, Ming Xin, Ye, Zhao Li, Chen, Juan, Wang, Qi, Shen, Yi
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Ye, Zhao Li
Chen, Juan
Wang, Qi
Shen, Yi
description To solve the motion control of mobile robot, a PID control optimized by improved immune clonal algorithm is presented. On the basis of immune clonal algorithm, a new virus evolutionary clonal algorithm (VECA) is provided firstly. The VECA focuses on the virus infection of population after immune mutation, which improves the population diversity and strengths the local search ability of immune clonal algorithm. Then the proposed VECA is used to optimize the algorithm parameters of PID control strategy for the robot motion. The simulation results show that VECA can realize the optimization of PID parameters and improve the control precision of path track.
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