在图3中，k时刻机器人位姿为a ，机器人的运动速度表示为b ， 表示k

In Figure 3, the robot's posture at time k is a, the speed of the robot's movement is denoted by b, which represents the angle at which the head of the robot changes at time k, c is the angle at which the wheel turns, and d is the angle at which the mobile robot makes an arc motion. , E represents the radian that the robot has moved, e represents the relative distance between the two neighboring robots, and d=s in a very short time t. then:

In Figure 3, k-moment robot position is a, the robot's motion speed is expressed as b, represents k-moment robot head toward the angle of change, c represents the angle of wheel rotation, d represents the angle of the moving robot to do arc motion, e represents the robot's moving arc, e represents the relative distance between the two adjacent moments of the robot, in a very short time t, d. Then:

In Fig. 3, the pose of the robot is a at the moment K, the velocity of the robot is expressed as B, the angle of the change of the robot's head direction at the moment K, the angle of the wheel rotation, the angle of the turning of the mobile robot in circular motion, e the arc of the robot's movement, and e the relative distance between the robots at two adjacent moments. In a very short time t, d = s. Then:<br>