Microstimulation-based path tracking control of pigeon robots through parameter adaptive strategy
Yinggang Huang,
Lifang Yang,
Long Yang,
Zehua Xu,
Mengmeng Li,
Zhigang Shang
Affiliations
Yinggang Huang
School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Brain Science and Brain-Computer Interface Technology, Zhengzhou 450001, China
Lifang Yang
School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Brain Science and Brain-Computer Interface Technology, Zhengzhou 450001, China
Long Yang
School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Brain Science and Brain-Computer Interface Technology, Zhengzhou 450001, China
Zehua Xu
School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Brain Science and Brain-Computer Interface Technology, Zhengzhou 450001, China
Mengmeng Li
School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Brain Science and Brain-Computer Interface Technology, Zhengzhou 450001, China; Corresponding author. School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, 450001, China.
Zhigang Shang
School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, China; Henan Key Laboratory of Brain Science and Brain-Computer Interface Technology, Zhengzhou 450001, China; Corresponding author. School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, 450001, China.
Research on animal robots utilizing neural electrical stimulation is a significant focus within the field of neuro-control, though precise behavior control remains challenging. This study proposes a parameter-adaptive strategy to achieve accurate path tracking. First, the mapping relationship between neural electrical stimulation parameters and corresponding behavioral responses is comprehensively quantified. Next, adjustment rules related to the parameter-adaptive control strategy are established to dynamically generate different stimulation patterns. A parameter-adaptive path tracking control strategy (PAPTCS), based on fuzzy control principles, is designed for the precise path tracking tasks of pigeon robots in open environments. The results indicate that altering stimulation parameter levels significantly affects turning angles, with higher UPN and PTN inducing changes in the pigeons' motion state. In experimental scenarios, the average control efficiency of this system was 82.165%. This study provides a reference method for the precise control of pigeon robot behavior, contributing to research on accurate target path tracking.
