S Mahmoudzadeh - Electrical Engineering Department, Faculty of Engineering, University of Guilan
H Mojallali - Electrical Engineering Department, Faculty of Engineering, University of Guilan
N Pourjafari - Electrical Engineering Department, Faculty of Engineering, University of Guilan

This paper proposes a design for a mesoscale capsule robot which can be used in gaining diagnosticdata and delivering medical treatment in inaccessible parts of the human body. After modeling thecapsule robot system and determining its transfer function, an approach is presented for the capsulerobot to control it: A PID-controlled closed-loop approach. A modified chaotic genetic algorithm isproposed in order to optimize the coefficients of the PID controller. Then, simulations are conducted todemonstrate the results for the proposed approach. Finally, the results are compared with those ofsimilar works in the literature

CapsubotChaosGenetic algorithmPID controllerOptimization