Intelligent trajectory tracking algorithm for autonomous robots under membrane computing
To effectively assist autonomous robots in better planning and controlling their motion trajectories,enabling them to efficiently navigate to target positions and avoid obstacles and colli-sions,a new tracking algorithm was proposed using membrane computing method.Firstly,utili-zing membrane computing to construct cell membrane structures with multiple step sizes increa-ses the opportunity for autonomous robots to find feasible paths.Secondly,based on the operating rules of the aforementioned membrane,the workflow of the fast connection stage was designed to find feasible autonomous robot trajectory paths,so that the autonomous robot could avoid obsta-cles and collisions,providing support for subsequent tracking.Finally,based on the multi-step parallel membrane structure,a feasible autonomous robot trajectory path was found,and a sliding mode variable structure function was used to design the control rate.The position error was ad-justed by the control rate to achieve autonomous robot trajectory tracking.The experimental re-sults show that the robot tracking is almost identical to the actual motion trajectory,with small errors(The errors on the X and Y axes are both less than 3 mm),and it has strong robustness.The convergence speed is below 1.1 s,and it can adapt to uncertain situations.The smoothness of the tracking trajectory can be maintained at over 96％,with high stability,good tracking perform-ance,and a minimum tracking response time of 5 s,which is practical.
万方数据
维普
