【摘要】 以一轮驱动、转向,两轮随动的三轮移动机器人为研究对象,提出了四次方曲线的转变路径生成方法,并与常用的二次方曲线的路径设计比较,从理论上分析四次方曲线转弯路径优于二次方路径。仿真和试验验证了四次方曲线转变路径驱动轮运行平稳,能适应较高的转弯速度。更多还原

【Abstract】 Wheeled mobile robot is descussed in the paper,which is driven and swerved by one wheel,two wheels followed.It presents a swerving path generation method that is designed as quartic curve.It is compared with common quadric curve method.It analysises that quartic curve method is superior to quadric one in theory. Simulation and experimentation shows driven wheel can be run steadily in the quartic curve method.Moreover it can adapt to swerve at higher speed.更多还原