The short answer is no. WhatsApp does not offer any functionality to backup your data in iCloud and restore it on an Android device (or vice versa).
While your basic information, like phone number and identity will transfer to your new phone, your chat history will not go along, too.
The only way to restore chat history on a phone with a different operating system, is by using one of the third-party apps on the market, designed to work around WhatsApp’s limitations.