【摘要】 针对轮式滑动转向移动机器人(WSMR)航向跟踪困难的问题,提出了基于神经网络训练的速度控制航向跟踪算法.介绍滑动转向原理并建立模型,采用虚拟样机仿真软件ADAMS构建WSMR虚拟样机.结合Matlab采用提出的算法对样机航向跟踪进行动态仿真.可视化的三维仿真结果表明,该算法可有效地实现航向跟踪.更多还原

【Abstract】 As heading following in wheeled skid-steer mobile robots(WSMR) is difficult to implement, an algorithm based on neural network speed control is presented in this paper. Dynamic modeling and theory for wheeled skid-steer are first introduced. Then, its parameterized model is built up by ADAMS. A co-simulation is then performed using ADAMS and Matlab. Dynamic, graphic display of simulation results shows that the control strategy can realize an efficient control of the WSMR.更多还原