Robot trajectory tracking control method, system and device based on spiking neural P system optimization and storage medium
The invention discloses a spiking neural P system optimization-based robot trajectory tracking control method, system and device and a storage medium, and belongs to the technical field of robots, the method comprises the steps of discretizing a robot kinematics model by using an Euler forward diffe...
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| creator | MURONG JUNHAO HU XUEFEI ZHU MING TANG YIXUAN YANG QIANG WANG QINGYI ZENG YING |
| description | The invention discloses a spiking neural P system optimization-based robot trajectory tracking control method, system and device and a storage medium, and belongs to the technical field of robots, the method comprises the steps of discretizing a robot kinematics model by using an Euler forward difference method to obtain a robot discrete kinematics model; defining a trajectory tracking error function, and constructing a trajectory tracking target function in combination with the robot discrete kinematics model; the target function is solved and optimized by utilizing a self-adaptive optimization spiking neural P system, the optimal control quantity of the robot is obtained, the motion trail of the robot is tracked to a specified reference trail, simulation is carried out through two groups of irregular reference trails, and the effectiveness of the method is verified. The invention provides a new solution for the trajectory tracking problem of the wheeled mobile robot, and has important practical value.
本发明公开 |
| format | Patent |
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| title | Robot trajectory tracking control method, system and device based on spiking neural P system optimization and storage medium |
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