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Merged
donghaiwang merged 30 commits into from
May 25, 2026
Merged

readme修正 #560

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e2f477d
Delete co/meshes/front_steer_link.STL
MAXRainJay Apr 21, 2026
9a2deed
Delete co/meshes/back_left_wheel_link.STL
MAXRainJay Apr 21, 2026
e1dbcfc
Delete co/meshes/cockpt_Link.STL
MAXRainJay Apr 21, 2026
956e600
更新了新的车辆模型
MAXRainJay Apr 21, 2026
8713b6b
pid优化
MAXRainJay Apr 21, 2026
cedbd2e
增加启动文件
MAXRainJay Apr 21, 2026
c350a84
URDF引导文件加入
MAXRainJay Apr 21, 2026
966a8f2
添加测试脚本
MAXRainJay Apr 23, 2026
bdaafd0
Merge branch 'OpenHUTB:master' into master
MAXRainJay Apr 23, 2026
9175d93
论文大纲（目录
MAXRainJay Apr 24, 2026
9dc987a
正文（草稿
MAXRainJay Apr 24, 2026
94cd8c2
Merge branch 'OpenHUTB:master' into master
MAXRainJay Apr 24, 2026
98e8205
latax论文正文
MAXRainJay May 10, 2026
cb3846c
Merge branch 'OpenHUTB:master' into master
MAXRainJay May 24, 2026
be18cb3
Delete co/基于高保真模拟器的车辆与飞行器协同控制_main.tex
MAXRainJay May 24, 2026
17cb845
Delete co/基于高保真模拟器的车辆与飞行器的协同控制论文草稿.pdf
MAXRainJay May 24, 2026
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Add files via upload
MAXRainJay May 24, 2026
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MAXRainJay May 24, 2026
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Delete co/基于高保真模拟器的车辆与飞行器协同控制 directory
MAXRainJay May 24, 2026
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Add files via upload
MAXRainJay May 24, 2026
ae6b0c9
Delete co/基于高保真模拟器的车辆与飞行器协同控制 directory
MAXRainJay May 24, 2026
588909b
更改了模板
MAXRainJay May 24, 2026
be45811
Delete co/基于高保真模拟器的车辆与飞行器协同控制 directory
MAXRainJay May 25, 2026
4da8f65
更新了论文
MAXRainJay May 25, 2026
751cf14
Delete co/基于高保真模拟器的车辆与飞行器协同控制 directory
MAXRainJay May 25, 2026
f472b76
更新了论文
MAXRainJay May 25, 2026
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Delete co/Cooperative Control of Vehicles and Aircraft Based on High-…
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更改
MAXRainJay May 25, 2026
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Delete co/undergraduate/README_缂栬瘧璇存槑.txt
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85 changes: 85 additions & 0 deletions co/main.tex
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Original file line number Diff line number Diff line change
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\documentclass{article}
\usepackage{hyperref}

\title{论文提纲}
\author{}
\date{\today}

\begin{document}

\maketitle

\tableofcontents

\section{绪论}
\subsection{研究背景与意义}
\subsection{国内外研究现状}
\subsection{研究内容与技术路线}

\section{机场牵引车辆系统建模与问题描述}
\subsection{机场牵引作业场景抽象}
\subsection{坐标系与状态变量定义}
\subsection{车辆运动学模型建立}
\subsubsection{非完整约束条件}
\subsubsection{单轨等效模型}
\subsubsection{双桥转向角速度表达式}
\subsection{转弯半径与曲率模型}
\subsection{典型转向模式分析}
\subsubsection{前桥单独转向模式}
\subsubsection{前后桥反向转向模式}
\subsubsection{前后桥同向转向模式}
\subsection{速度、转角与曲率约束建模}
\subsubsection{速度约束}
\subsubsection{转向角约束}
\subsubsection{曲率约束}
\subsection{车辆动力学简化与驱动关系}
\subsection{状态方程统一表达}
\subsection{仿真实现中的参数映射关系}
\subsection{本章小结}

\section{基于飞机辅助感知的自动对接识别方法}
\subsection{感知任务分析与总体方案设计}
\subsection{飞机辅助感知目标与识别信息设计}
\subsection{感知系统组成与传感器配置}
\subsubsection{视觉识别模块}
\subsubsection{近距测量模块}
\subsection{目标身份确认模型}
\subsection{相对位姿感知模型}
\subsection{近距离态势感知与安全判定}
\subsection{感知流程设计}
\subsection{本章小结}

\section{基于相对位姿误差的自动接近与对接控制方法}
\subsection{控制任务描述与总体思路}
\subsection{状态变量、控制输入与误差定义}
\subsubsection{车辆状态与控制输入}
\subsubsection{感知误差接口}
\subsection{对接过程分析与分层控制架构}
\subsubsection{对接过程分阶段描述}
\subsubsection{分层控制架构}
\subsection{误差动力学模型建立}
\subsection{局部参考轨迹生成方法}
\subsubsection{预对接点与对接点构造}
\subsubsection{三次多项式局部轨迹}
\subsection{参考速度调度策略}
\subsection{误差反馈控制律设计}
\subsubsection{纵向速度控制律}
\subsubsection{角速度控制律}
\subsubsection{对接过程中的控制行为分析}
\subsection{四轮转向映射与约束处理}
\subsubsection{曲率计算}
\subsubsection{双桥反向转向模式}
\subsubsection{前桥单转向模式}
\subsubsection{速度与转角}
\subsection{终端停车判定与模式切换}
\subsection{控制算法主流程}
\subsection{本章小结}

\section{仿真系统构建与实现}
\subsection{系统总体架构与软硬件环境}
\subsection{牵引车模型与传感器建模}
\subsection{任务与模式管理}
\subsection{ROS与Gazebo接口实现}
\subsection{本章小结}

\end{document}
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