Multimedia Tools and Applications

, Volume 78, Issue 3, pp 3203–3220 | Cite as

Trajectory tracking optimization of mobile robot using artificial immune system

  • Seongsoo Cho
  • Bhanu ShresthaEmail author
  • Wook Jang
  • Changho Seo


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.


Artificial immune system Optimization Mobile robot Trajectory tracking 



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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Copyright information

© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  • Seongsoo Cho
    • 1
  • Bhanu Shrestha
    • 2
    Email author
  • Wook Jang
    • 3
  • Changho Seo
    • 3
  1. 1.School of Computer Science and EngineeringSoongsil UniversitySeoulRepublic of Korea
  2. 2.Department of Electronics EngineeringKwangwoon UniverversitySeoulRepublic of Korea
  3. 3.Department of Applied MathematicsKongju National UniversityKongjuRepublic of Korea

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