The robot motion model uses arc motion approximation, o point is the center of motion, ol is the center of the mobile robot body, the radius of arc motion is represented by r, the body diameter is represented by l, and the movement angle speed and line speed of the left and right wheels are w1, w2 and vl, vr, respectively. The angular velocity of the car body during sports is w, which is available according to kinematic sororise:
正在翻译中..