Precise motion control of omnidirectional mobile robots for nuclear power inspection

To increase the motion stability and accuracy of omnidirectional mobile robots for nuclear power inspection, an improved PID controller based on a fuzzy immune algorithm is proposed. Firstly, a kinematic model with velocity coupling constraints was developed according to structural analysis of the inspection robot. Secondly, fuzzy logic was used to adjust the three parameters of the PID controller adaptively, and an artificial immune algorithm was integrated to perform secondary optimization of the proportional gain in the design of a fuzzy immune PID controller. Simulation results demonstrated that the proposed controller reduces velocity overshoot and enhances the motion control precision and stability of the robot.