摘要
描述了一种简单有效的、适用于两轮小型移动机器人的底层运动控制器的具体实现方法,并将底层运动分为4种基本的运动形式进行分段控制,方便高层系统的调用,准确实现了任意要求的运动轨迹和运动姿态,提供了机器人完成复杂任务的基础条件。
A concise and effective method of designing and implementing a low-level motion controller for a two-wheel mobile mini-robot was descibed, With the novel ＂section＂ control which divides motion into four basic forms, higher level system is able to easily invoke the motion controller to make the robot move according to required paths and poses, laying foundation for complex tasks,
出处
《机电工程》
CAS
2006年第9期38-40,46,共4页
Journal of Mechanical & Electrical Engineering
关键词
运动控制
移动机器人
差分驱动
mobile robot
motion control
differential drive
