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地面移动机器人(以Pioneer3 -AT为例)运动学模型

于 2022-03-25 发布 文件大小:9.65 kB
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代码说明:

用S函数写了移动机器人的运动学方程,针对侧滑移动(skid-steering)的移动机器人,采用左右速度瞬心的方法描述了其运动学模型,采用的是pioneer3-AT的参数作为模型,描述了不同速度运动的轨迹。当然,其他的机器人也是类似的。

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