Parameter identification of mine-used robot driving system

Abstract

In view of problem of low precision of parameter identification based on least square method, a parameter identification method of mine-used robot driving system based on whale optimization algorithm was proposed. Driving system model of mine-used robot is established to determine parameters to be identified which are considered as individual position of whale colony. Fitness function is used to measure the individual position of whale colony. The optimal identification parameters can be obtained by continuously updating the individual position of whale colony with whale foraging strategy until the optimal individual position of whale colony is obtained. The simulation and experimental results show that the method has higher identification accuracy than the parameter identification method based on least square method.

Keywords

• mine-used robot
• driving system
• parameter identification
• whale optimization algorithm