An automatic guidance method for tractor was developed based on a vehicle kinematical model and the optimal control theory.
利用车辆运动学模型，应用最优控制理论，对拖拉机自动引导行走方法进行了研究。
2
Firstly, the kinematical characteristics of this mechanism in its initial position and in the position after a translation happened were analyzed by reciprocal screw theory.
首先，用反螺旋理论分析了在初始位置和发生位移后该机构的运动特性。
3
Most of them were theory researches, mainly on kinematical planning and optimization, especially in the case of obstacle avoidance.