Kinematic Analysis and Programming Implementation of Patrol Robots Based on Ackermann’s Principle
摘要
The kinematic analysis of the patrol robot is based on Ackermann theory to derive the relationship between front wheel deflection angle, rear wheel speed and robot target speed. The fitted curve is obtained by plotting a scatter plot of the relationship between the deflection angle of the robot's rudder and the deflection angle of the front wheel and fitting the curve. Ultimately the whole robot is programmed for motion control. This paper provides a basis for theoretical analysis for further research on the Ackermann principle patrol robot.