针对室内移动机器人导航问题，提出一种包括全局规划层、局部路径优化层、反应式导航控制层的导航策略。
A strategy based on global planning layer, local path optimizing layer and reactive navigation controlling layer is presented for indoor mobile robot navigation.
提出了钽的氧化反应式及反应控制步骤；得出其氧化膜电容量随着氧化电位的增加而减少，阻抗与阳极极化行为存在相关关系。
The results shows the capacity of the anode oxidation membrane decreases with the increasing of oxidation potential, and there exists relationship between impedance and behavior anode polarization.
本文采用了近代控制理论常用的状态变量法研究了反应式步进电动机动特性及其最佳控制。
This paper deals with the research of dynamic characterises and optimal control of VR step motor with the state variable method in modern control theory.
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