基于构型变换的移动机器人持续运动方法

urrently, the research on the continuous trafficability of the wheeled-robot with driving-failure has been a signifcant study direction in the field of mobile robot control. when the robot appears driving-failure situation that it cannot work properly on the rough terrain, it must have the continuous trafficability to overcome the difficulties depending on the control strategy and configuration transformation by itself. Firstly, based on the different driving-failure situations, this paper put forward the configuration transformation. Secondly, the trajectory tracking control of the wheeled-robot has been studied. ?????