PROCÉDÉ DE DÉTERMINATION ET PROCÉDÉ DE COMMANDE POUR LE DÉPLACEMENT EN LIGNE DROITE D'UN ROBOT SUR UN PLAN INCLINÉ

摘要

A determining method and control method for straight running of a robot (100) on a slope plane (300), used for determining whether the robot (100) deviates from a set straight path by determining whether a real-time score vector (gxm1) of the acceleration of gravity (g) in the x-axis direction is the same as a standard score vector (gxm0), so as to solve the technical problem that straight running is hard to guarantee as a robot's deviation from a set straight path on a slope plane (300) is hard to find and cannot be corrected in time.