本文以pioneer3一at型室外轮式移动机器人为平台，利用卡尔曼滤波融合多传感器的测量数据，并将鲁棒控制原理用上移动机器人的定位上。

介绍了prioneer先锋机器人的aria编程环境配置方法，和一些基本知识，一些基本控制机器人的程序，适合初学者参考学习-Pioneer introduced prioneer aria robot programming environment configuration, and some basic knowledge, some basic procedures to control the robot, suitable for beginners reference learning

基于pioneer3-at机器人小车研究平台应用于焊缝跟踪的研究，设计相应的焊缝跟踪系统，并对机器人小车进行运动学分析-Based on the research platform of pioneer3-at robot vehicle, the welding seam tracking system is designed, and the corresponding welding seam tracking system is designed.