The posture controller design uses MLP neural network to learn the inverse drive model of WMR.The training patterns are obtained by continuously driving WMR with a variety of velocities.

• 姿态控制类神经网路所学习的对象是行动机器人的逆向驾驶模型，所以用各种不同速度连续驾驶行动机器人，其速度和位移的记录就可以做为训练样本。