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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.
Aiming at the problem of heading tracking problem of wheeled sliding steering mobile robot (WSMR), a speed control heading tracking algorithm based on neural network training is proposed. The principle of sliding steering is introduced and the model is established. The WSMR virtual prototype is constructed by virtual prototype simulation software ADAMS. The proposed algorithm is used to simulate the heading tracking of the prototype.The visual 3D simulation results show that the algorithm can effectively achieve heading tracking.