摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-调查人员发布了关于机器人的新报告。根据NewsRx编辑对宜宾市的新闻报道，研究表明：“本文提出了一种两个从动后轮和一个前轮的三轮移动机器人精确运动控制策略，以便能够很好地完成避障运动任务。”本研究的资助者包括国家自然科学基金。新闻记者从宜宾大学的研究中得到一句话：“首先，阐述了三轮移动机器人在非完整约束下的运动规律，以便于其动力学模型的推导。”然后，通过零横向速度的非完整约束，将给定的目标曲线转换为速度目标。根据给定曲线的相对曲率，提出了一种与动态模型对准的改进动态跟踪目标。通过应用该动态跟踪目标，通过适当选择偏航运动速度目标，提高了路径跟踪精度，从而防止了相对曲率跟踪中速度误差的积累。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators publish new report on ro botics. According to news reporting out of Yibin, People's Republic of China, by NewsRx editors, research stated, "This paper proposes a precise motion control strategy for a three-wheeled mobile robot with two driven rear wheels and one st eered front wheel so that an obstacle avoidance motion task is able to be well i mplemented." Funders for this research include National Natural Science Foundation of China. The news journalists obtained a quote from the research from Yibin University: " Initially, the motion laws under nonholonomic constraints are expounded for the three-wheeled mobile robot in order to facilitate the derivation of its dynamic model. Subsequently, a prescribed target curve is converted into a speed target through the nonholonomic constraint of zero lateral speed. A modified dynamical tracking target that is aligned with the dynamic model is then developed based o n the relative curvature of the prescribed curve. By applying this dynamical tra cking target, path tracking precision is enhanced through appropriate selection of a yaw motion speed target, thus preventing speed errors from accumulating dur ing relative curvature tracking."
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