哈尔滨理工大学学士学位论文 umobile?manipq?uleft??w (1) ??u???right?manipmanipmanipmanip?acquisition?retract (2) ?wacquisitionq?wretractqmobile
?b?ab(wb?w)??rb?,bw?wb?noise (3) Tbw3b2bb??bamobile?tanh(kmobilea(dtar?dmobilethreshold
) (4)
amanipacuisition?tanh(kmanipa(dtar?dmobilethreshold
)) (5)
9
哈尔滨理工大学学士学位论文 错误！未找到引用源。
manipmobile?tanh(ka(dtar?dthreshold)) (6)
rretract,acquisition?1(1?tanh(krretract(qcurrent?qhome??q))) (7) 2
fmobile?w10
mobilemobiletartarf?wmobilemobileobsobsf
(8)
哈尔滨理工大学学士学位论文 ?,v?uleft???vuright??πdwheel?,v?v?πdwheel?? (9) 2??uright (10) 2
???d?wheelbasedwheelπ
(12)
fmobile,?tar?????mobile,vmobile,vmobileftar(min(ktardtar,vmax)?v) (14) ?v???tarmobile,?tar
sin(?tar??) (13)
mobile,?mobile,?fobs??obs(???i)e,imobile?cobsdobs,i?(???i)2
(15)
e2?i211
哈尔滨理工大学学士学位论文 mobile,v???obs(v?vmin)forv?vmin????0forvmin?v?vmanx,i (16) ?mobile,v????obs(v?vmax,i)forv?vmax,imobile,vfobs,ifmobileobs?f??f???mobile,v????mobile,v? (17) ?f?i?f??obs??obs,i?mobile,?obsmobile,?obs,i
C.Comopetitive Dynamics
mobilemobile?tar?(1?tanh(r,obsgain(12dobs,mindtar
mobile?rlimit))) (18)
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