膜计算下自主机器人轨迹智能跟踪算法

Intelligent trajectory tracking algorithm for autonomousrobots under membrane computing

为有效帮助自主机器人更好地规划和控制其运动轨迹,使其能够高效地导航到目标位置,并避免障碍物和碰撞等问题,采用膜计算的方法,给出一种新的跟踪算法。首先,利用膜计算构建具有多个步长的细胞膜型结构,来增加自主机器人找到可行路径的机会。其次,基于上述膜的运行规则,对快速连通阶段工作流程进行设计,寻找得到可行的自主机器人轨迹路径,从而使自主机器人可避免障碍物和碰撞等问题,为后续跟踪提供支持。最后,基于多步长并行膜结构寻找获得可行的自主机器人轨迹路径,使用滑模变结构函数来设计控制率,通过控制率对位置误差进行调整,实现自主机器人轨迹跟踪。实验结果表明:机器人跟踪几乎与实际运动轨迹相同,误差较小,在X轴与Y轴上的误差均小于3 mm,且具有较强的鲁棒性,收敛速度在1.1 s以下,可适应不确定性情况;跟踪轨迹平滑度可维持在96%以上,具有较高的稳定性,跟踪性能较佳,并且追踪响应时间最低为5 s,具有实用性。

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 collisions,a new tracking algorithm was proposed using membrane computing method.Firstly,utilizing membrane computing to construct cell membrane structures with multiple step sizes increases 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 obstacles 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 adjusted by the control rate to achieve autonomous robot trajectory tracking.The experimental results 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 performance,and a minimum tracking response time of 5 s,which is practical.