机械 机器人 外文翻译 外文文献 英文文献 一种实用的办法--带拖车移动机器人的反馈控制

mall.4ExperimentalresultsWepresentnowexperimentalresultsobtainedwithourrobotHilaretowingatrailer,forbothsystemsAandB.putedbythemotionplannerbetweentheinitialFigure5:SystemA:theinitialandgoalconfigurationsandthefirstpathtobetrackedFigure6:SystemB:theinitialandgoalconfigurations,thefirstpathtobetrackedandthefinalmaneuverconfigurations(inblack)andthegoalconfigurations(ingrey),putedmaneuverinthesecondcase.Thelengthsofbothhookingsystemisthefollowing:,cmforAandcm,cmforB.Tables1and2givethepositionofinitialandfinalconfigurationsandthegapsbetweenthegoalandthereachedconfigurationsafteronemotionandtwomotions,for3differentexperiments.Inbothcases,thefirstexperimentcorrespondstothefigure.mentsandRemarks:ments.First,theprecisionreachedbythesystemisverysatisfyingandsecondlythenumberofiterationsisverysmall