Abstract:

 In order to accurately track the trajectory of mobile robot,a parameter tuning method based on the im-mune genetic algorithm is proposed.In the investigation,first,the structure model,the kinematics model and themotor control system model of mobile robot are constructed.Next,an improved immune genetic algorithm is em-ployed to optimize the parameters of the motor control system model.This algorithm,on one hand,not only consi-ders the fitness function of antibodies but also strengthens the competition among antibodies during the choice of thenext generation,thus guaranteeing the convergence rate.On the other hand,it takes the antibody concentration intoconsideration to reflect the communication between two antibodies,thus improving the global searching ability andmaking up for the lack of searching ability of conventional genetic algorithms.The step signal response of loadedmotor and the trajectory tracking of mobile robot are then dealt with on an experimental platform,with good res-ponse and accurate tracking ability for planned trajectories being obtained.It is concluded from the simulated andthe experimental results that the trajectory tracking based on the immune genetic algorithm is of high feasibility andmany advantages.

Key words: mobile robot, trajectory tracking, controller parameter tuning, immune genetic algorithm