基于阿克曼原理的车式移动机器人运动学建模

基于阿克曼原理的轮式移动机器人运动学模型对于无人驾驶车辆的研究有着重要的意义.对轮式移动机器人的运动学特性进行了分析，建立了不考虑滑行、刹车等的轮式移动机器人的运动学模型.对该运动学模型引入了阿克曼约束，给出了描述机器人运动状态的转向角、航向角和转弯半径等物理量的数学公式.最后对该运动学模型进行仿真实验，验证了所建立的运动学模型的正确性，为进一步研究轮式移动机器人提供了理论分析的基础.

Using the Ackerman principle for kinematic modeling of wheeled mobile robots

Applying the Ackerman principle to kinematic modeling of wheeled mobile robots is of vital importance for improving the performance of unmanned autonomous vehicles. The kinematic characteristics of wheeled mobile robots were analyzed in this paper, and a kinematic model was set up that did not consider sliding or braking. The Ackerman principle was then introduced to this kinematic model. Mathematical formulas were proposed for turning angle, steering angle and turning radius. These accurately reflect the movement status of the mobile robot, providing a theoretical basis for analysis of future intelligent vehicles. The conclusions were validated through a simulation.