说明：  1)对轮式移动机器人建立全局坐标系与局部坐标系； 2)绘制机器人的物理模型； 3)掌握机器人的位姿状态的坐标描述； 4)建立机器人的运动学方程 5)搭建仿真模型,给出小车的参考输入,求解输出
(1) The global coordinate system and local coordinate system are established for wheeled mobile robot; 2) The physical model of the robot is drawn; 3) Master the coordinate description of the robot's pose state; 4) Establish the kinematics equation of robot 5) Build the simulation model, give the reference input of the car, and solve the output)