摘要
差速转向是无人地面车辆研究的重要理论内容之一,基于一种6×6无人地面车辆,建立车辆差速转向模型,着重进行运动学分析,讨论了车辆转弯速度、转向半径、角速度等参数之间的关系,并运用Matlab软件计算分析,为下一步运动路径规划及控制工作提供了理论依据。
Differential skid-steering is one of the most important issues in theoretical research of UGV（unmanned ground vehicle）.In this paper,a skid-steering model based on a large 6WD UGV was constructed.The kinematic analysis of the model was presented.The relationship among the vehicle turning speed,turning radius and angle speed were discussed and analyzed by Matlab.It provided a theoretical basis for future research of path planning and controlling.
出处
《军事交通学院学报》
2011年第1期43-47,共5页
Journal of Military Transportation University
关键词
6×6
无人地面车辆
差速转向
运动学
6WD
unmanned ground vehicle
differential skid-steering
kinematics
