如图3所示，机器人在全局坐标系下相邻时刻状态模型，假设机器人运动过程中

As shown in Figure 3, the state model of the robot at the adjacent moment in the global coordinate system assumes that the robot's wheels and the ground are in point-to-point contact during the movement of the robot, and there is no relative sliding. The left and right wheels of the mobile robot are respectively equipped with wheel encoders. Based on the above conditions, the kinematics model of the robot is established.

As shown in Figure 3, the robot's state model of adjacent moments under the global coordinate system assumes that the robot's wheels and the ground are in contact at the moment during the robot's motion and there is no relative sliding. The wheel encoder is installed on the left and right wheels of the mobile robot. Based on the above conditions, a heonology model of robot is established.

As shown in Figure 3, the adjacent time state model of the robot in the global coordinate system assumes that the wheel of the robot contacts with the ground at any time point in the process of robot motion, and there is no relative sliding. The left wheel and right wheel of mobile robot are respectively installed with wheel encoder. Based on the above conditions, the kinematics model of the robot is established.