A Robot Trajectory Tracking Control Method Based on Spike Neural P System Optimization

Robots are widely used in many fields and have attracted a lot of attention. This paper proposed a trajectory tracking control method based on spike neural P system optimization, especially for the irregular discrete reference trajectory. Firstly, the kinematics model of the robot is discretized by Euler's forward difference method. Secondly, the trajectory tracking error function is defined, and the trajectory tracking objective function is constructed by using predictive control. Further, in order to overcome the trigonometric coupling problem encountered when solving the predictive controller, An adaptive optimization spiking neural P system is used to solve the objective function and obtain the optimal controller so that the robot can track the desired reference trajectory. Finally, the effectiveness of the proposed method is verified by the simulation of irregular reference trajectories. This paper provides a new solution to the trajectory tracking problem of wheeled mobile robots, especially for irregular discrete reference trajectories.