针对四轮车式移动机器人的运动学模型,首先利用一个正则坐标变换,将误差系统转换为一个非线性串联系统的形式;
Aimed at the kinematic model of the car-like mobile robot with four wheels, the tracking error system is firstly transformed to a nonlinear serial system through a regular transformation.
利用各向异性单元分析方法得到了二阶问题的误差估计,从而避开了正则性条件的限制。
Using the analytic method of the anisotropic element, error estimate for the second order problem is obtained without the limitation of regularity conditions.
在学习过程中,正则化措施被使用到普通的误差函数中。
In the learning process, the regularization method was used in the ordinary error function.
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