基于差动驱动式移动机器人模型的控制研究

摘要

The kinematics model of differential drive mobile robot is established in this paper.Considering the actual input of the mobile robot control er,the model is simplified.According to the relationship between the two models,the kinematics e-quation is derived for differential drive mobile robot.Final y,the kinematics equations of a key point has also been derived.%建立了差动驱动式移动机器人的运动学模型，考虑移动机器人的控制器的实际输入，对该模型进行了简化，由两个模型之间的关系推导出差动驱动式移动机器人的运动学方程，最后基于该运动学方程分析了差动驱动式移动机器人上关键点的运动控制。