This paper mainly studies the kinematics and dynamics modeling of the obstacle negotiation for an uneven ground six-wheeled-legged autonomous mobile robot and correlative control problem.

本文主要研究非平整地面六轮腿式自主移动机器人的越障运动学、动力学建模与控制的问题。

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Based on "giant" mobile robot, the main researching work of this dissertation includes robot kinematics, control system, sense net and its information - fusion and path planning.

本论文基于自行研制开发的移动机器人“巨人”号平台，主要对机器人运动原理、控制系统、感觉网路及其信息融合和路径规划策略进行了研究。

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Firstly, a kind of kinematics model of two-wheel driven mobile robot is analyzed. Aimed at its trajectory tracking control problem, the sliding-mode controller is designed.

首先，分析一类两轮移动机器人的运动学模型和动力学模型，针对其轨迹跟踪控制问题，设计滑模控制器。

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