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.
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；
Transformation between 5v logical and RS-232 Many micro-controllers have asynchronous serial ports, but their input and output rather to use 5v logic than to RS-232 voltage.
在5 V逻辑和RS - 232之间转换很多微控制器有异步串口，但是它们的输出和输入使用5 V逻辑而不是使用RS - 232电压。
This paper researches and tries coordinates transformation, serial port communication, database and LOD, which are needed when acquiring real-time 3-dimensional spatial data and disposing it.
本文还对坐标转换、串口通信、数据库技术和LOD进行了研究和实验，这些技术也是三维空间数据实时获取和处理中需要用到的。
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