%0 Journal Article
%T Trajectory Tracking for Tracked Mobile Robot<br>履带式移动机器人轨迹跟踪研究
%A KANG Liang
%A ZHAO Chun-xia
%A GUO jian-hui
%A <br>康亮
%A 赵春霞
%A 郭剑辉
%J 计算机科学
%D 2009
%I 
%X A kind of tracked mobile robot model that is suitable for the design of controller was proposed through analyzing the force characteristics of the tracked mobile robot.Based on the dynamic model and kinematic constraints of the tracked mobile robot,a trajectory tracking controller was designed.Stability of the rule was proved through the use of a Lyapunov function.Parameters were introduced to describe the track-soil interactions.Considering the dynamics of the mobile robot,the limited control strategy was ...
%K Tracked mobile robot
%K Trajectory tracking
%K Dynamic model<br>履带式移动机器人
%K 轨迹跟踪
%K 动力学模型
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=64A12D73428C8B8DBFB978D04DFEB3C1&aid=D1ECD159A47957694A1B5EBB05FFEF59&yid=DE12191FBD62783C&vid=933658645952ED9F&iid=B31275AF3241DB2D&sid=6A73B36E85DB0CE9&eid=5B5B75F4854B8331&journal_id=1002-137X&journal_name=计算机科学&referenced_num=1&reference_num=14