基于神经动力学的非完整移动机器人运动控制的开题报告.docxVIP

基于神经动力学的非完整移动机器人运动控制的开题报告 摘要： 本文旨在研究基于神经动力学的非完整移动机器人的运动控制问题。首先介绍了非完整机械系统的运动学和动力学建模，以及基于神经动力学的控制方法的原理和优点。然后，阐述了非完整移动机器人的动力学特性和控制问题，包括前向动力学和逆向动力学的求解方法、轮式和履带式移动机器人的控制方法和离散控制和连续控制的区别。接着，提出了基于神经动力学的非完整移动机器人控制方案，包括神经元网络的构建、控制变量的选择、学习算法的设计等。最后，通过仿真实验验证了该控制方案的有效性。 关键词： 神经动力学；非完整移动机器人；运动控制；控制方案；仿真实验 Abstract: This paper aims to study the motion control of nonholonomic mobile robots based on neural dynamics. First, we introduce the kinematic and dynamic modeling of nonholonomic mechanical systems and the principles and advantages of neural dynamic control methods. Then, we elaborate on the dynamic characteristics and control problems of nonholonomic mobile robots, including forward and inverse kinematics solution methods, control methods of wheeled and tracked mobile robots, and the difference between discrete and continuous control. Next, we propose a neural dynamic control scheme for nonholonomic mobile robots, including the construction of neural networks, selection of control variables, and design of learning algorithms. Finally, the effectiveness of the control scheme is verified through simulation experiments. Keywords: neural dynamics; nonholonomic mobile robot; motion control; control scheme; simulation experiment.