Trajectory Tracking for Tracked Mobile Robot
履带式移动机器人轨迹跟踪研究

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 ...