CN106863297A - A kind of accurate approach method of space rope system robot vision - Google Patents
A kind of accurate approach method of space rope system robot vision Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The present invention relates to a kind of space rope system accurate approach method of robot vision, the angle information obtained to target using camera, set up the state estimation based on Kalman filter, and the direction using Model Predictive Control Algorithm control operation robot and speed, the state estimation of wave filter and path trace joint is optimal, so that on the one hand spatial operation robot is approached target, the relative position that another aspect monocular obtains accuracy guarantee is estimated.The beneficial effects of the invention are as follows, using robot of the space rope system accurate approach method of monocular based on Model Predictive Control, in the case of using only monocular camera, robot of space rope system being accurately positioned in real time to target is can be achieved with, and accurately approach target.
Description
Technical field
The invention belongs to space technology field, it is related to a kind of space rope system accurate approach method of robot vision, is a kind of
Space rope system robot vision based on Model Predictive Control accurately approaches mesh calibration method.
Background technology
Become the aspects such as rail, track garbage-cleaning, satellite out of control relief in auxiliary, robot for space possesses the excellent of oneself uniqueness
Gesture.Robot for space of the object that the present invention is studied mainly for band rope system, it is also possible to be slightly improved being applied to other
In the middle of type space robot.Robot of space rope system is made up of " Platform Satellite+spatial tether+operation robot " three parts,
Such as Fig. 1.The operation robot of robot of space rope system is to approach the specific unit of simultaneously capture target.Come for operation robot
Say, it is the key that operation robot accurately approaches the completion of target navigation task that its relative position between target is measured in real time.
In itself, operation robot is typically small for opposed platforms, it is impossible to the larger high performance external detecting sensor of carrying weight, such as laser
Rangefinder etc..Therefore, vision sensor is its most common external sensible sensor, and responsible operation robot approaches phase during target
Position is navigated and is measured.It is well known that, monocular vision sensor can be between accurate measurement target and operation robot
Relative angle, but have significant limitations for Relative ranging.Therefore in robot of existing space rope system approach method,
Monocular camera typically only serves the effect of angle on target alignment, does not carry out range measurement.When range information is necessarily required to, monocular
Camera needs combining target priori size and the geometrical model could to obtain the Relative ranging between operation robot and target
Information.And for noncooperative target, this requires that platform carries out target and is diversion in advance, the premise bar such as target Accurate Model is carried out
Part, it is that robot platform has also been proposed extra requirement to rope that this is just obvious.
The content of the invention
The technical problem to be solved
In order to avoid the deficiencies in the prior art part, the present invention proposes a kind of space rope system robot vision accurately side of approaching
Method, by real-time optimization velocity of approch and direction, makes operation robot just to be carried out accurately to target merely with monocular camera
Range measurement and approach target, solve existing method limitation.
Technical scheme
A kind of accurate approach method of space rope system robot vision, it is characterised in that：Treat the body coordinate system of capture target
It is OtXyz, OwWith the center that O is respectively robot satellite platform and operation robot, operation robot quality is m, satellite platform
With relative position of the operation robot center in capture target body coordinate system is treated respectively Ow=(xw yw zw)TWith O=(x
y z)T, treat that capture target is defined as α, the angle of pitch and is defined as β, F relative to the azimuth of operation robottBe satellite platform to behaviour
Make the tether tension force of robot, propeller gross thrust is Fs, wherein Fsx, Fsy, FszIt is FsAlong x, the component of y, z three axes,
The horizontal stroke of camera imaging plane, ordinate are respectively u, v, and the focal length of camera is f；Approximation step is as follows：
Step 1：Dynamic Modeling is carried out to operation robot, obtain robot of space rope system system dynamics equation and
Camera observational equation：
System dynamics equation
Wherein：N is orbit angular velocity.
Camera observational equation is：
Step 2：System dynamics equation and camera observational equation are filtered using extended pattern Kalman filter EKF
Ripple, obtains the covariance matrix of the estimate of relative position and evaluation estimated accuracy between operation robot and target；
Step 3：Using pseudo- spectrometry, based on system dynamics equation, the space rope system machine based on continuous control power is obtained
People approaches the offline trajectory planning of target；
Step 4：Using Model Predictive Control MPC methods, the trajectory planning tracking accuracy obtained to step 3 is total as one
Body optimization aim, the estimated accuracy obtained to step 2 as another optimization aim, the direction of motion of control operation robot and
Movement velocity, realization is treated the accurate of capture target and is approached.
Beneficial effect
A kind of accurate approach method of space rope system robot vision proposed by the present invention, the angle obtained to target using camera
Degree information, sets up the state estimation based on Kalman filter, and using Model Predictive Control Algorithm control operation robot
Direction and speed, the state estimation of wave filter and path trace joint is optimal, so that spatial operation robot is on the one hand
Target is approached, the relative position that another aspect monocular obtains accuracy guarantee is estimated.The beneficial effects of the invention are as follows,
Using robot of the space rope system accurate approach method of monocular based on Model Predictive Control, in the situation using only monocular camera
Under, robot of space rope system being accurately positioned in real time to target is can be achieved with, and accurately approach target.
Brief description of the drawings
Fig. 1 is space rope system robot system figure；
Fig. 2 is the system coordinates definition figure comprising satellite platform, tether, robot for space and target；
The force diagram of Tu3Shi spatial operations robot；
Fig. 4 is camera observed object imaging schematic diagram；
Fig. 5 is control system architecture figure.
Specific embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
The technical solution adopted in the present invention is：Space rope system robot essence of the one kind based on Model Predictive Control (MPC)
Really approach goal approach.Dynamic Modeling is carried out first to Sheng Xi robots, using kinetics equation as operation robot and mesh
The system equation that relative position is estimated between mark, monocular camera is treated the angular surveying information of capture target as observation side
Journey.Based on said system equation and observational equation, the real-time estimation of relative position is carried out using extended pattern Kalman filter.
Finally, direction and speed are approached using the online real-time adjustment operation robot of model predictive control method so that operation machine
On the one hand people approaches target along desired trajectory, on the other hand ensures that relative position is estimated to meet certain required precision.
Specifically implement according to following steps：
Step 1：Dynamic Modeling is carried out to operation robot, obtain robot of space rope system system dynamics equation and
Camera observational equation.
Step 2：System dynamics equation and camera observational equation are filtered using extended pattern Kalman filter EKF
Ripple, obtains the covariance matrix of the estimate of relative position and evaluation estimated accuracy between operation robot and target.
Step 3：Using pseudo- spectrometry, based on system dynamics equation, the space rope system machine based on continuous control power is obtained
People approaches the offline trajectory planning of target.
Step 4：Using Model Predictive Control MPC methods, the trajectory planning tracking accuracy obtained to step 3 is total as one
Body optimization aim, the estimated accuracy obtained to step 2 as another optimization aim, the direction of motion of control operation robot and
Movement velocity, realization is treated the accurate of capture target and is approached.
Further, space rope system robot system schematic diagram as shown in Figure 1, system mainly include satellite platform, tether,
Operation robot.Treat that capture target is located at system front.Fig. 2 descriptive system coordinate definition figures.The body of capture target is treated in definition
Coordinate system is OtXyz, the navigation that approaches of robot for space is described under this coordinate system.Define OwMachine artificial satellite is respectively with O
The center of star platform and operation robot, operation robot quality is m, and satellite platform and operation robot center are in mesh to be arrested
Relative position in mark body coordinate system is respectively Ow=(xw yw zw)TWith O=(x y z)T, treat capture target relative to operation
The azimuth of robot is defined as α, the angle of pitch and is defined as β.The force analysis of robot for space is as shown in figure 3, FtFor satellite is flat
To the tether tension force of operation robot, propeller gross thrust is F to platforms, wherein Fsx, Fsy, FszIt is FsAlong x, y, z three axes
Component, the horizontal stroke of camera imaging plane, ordinate are respectively u, v, and the focal length of camera is f.
Step 1 mainly carries out Dynamic Modeling to operation robot, obtains system state equation and camera observational equation.This
Invention assumes that platform weight is relatively large, operation robot approach it is motor-driven do not interfere with the motion of satellite platform, therefore be not required to
Platform is modeled.Additionally, in the present invention, the attitude of operation robot is assumed under high accuracy gyroscope instrument control system always
X-axis is accurately directed, therefore this patent does not consider pose problem.Based on this it is assumed that angular relationship according to Fig. 2, operation
The kinetics equation of the system of robot can be established as：
Wherein n is orbit angular velocity.
Target satellite is observed using camera, is defined according to Fig. 2 and Fig. 4, can pushed away by pinhole camera image-forming principle
Derive：Then obtaining camera observational equation is：
Step 2 is the system dynamics equation and camera observational equation obtained using step 1, and using extended pattern, Kalman filters
Ripple device (EKF) realizes that relative position is estimated between operation robot and target, and obtains evaluating the covariance matrix of estimated accuracy.
Need exist for carrying out discretization first to system.By the discrete-time system state (position of the statement operation robot at kth moment
+ speed) it is defined as：
Wherein xkValues of the variable x at the discrete time k moment is represented,Represent xkFirst derivative, be similar to notation methods should
For other variables of this patent.It is discrete form that formula (1) system equation can also be reorganized：
Xk+1=Xk+T·fk (4)
Wherein T is discrete sampling time interval, is similar to definition and is applied to whole application.Nonlinear function f in formula (4)k
For：
According to formula (2), the discrete observation value for defining the system k moment is Yk=[uk vk], obtaining discrete observation equation is：
State estimation is carried out to formula (4) and (6) corresponding discrete system underneath with traditional EKF filtering：
1) first formula is state transition equation, it is therefore an objective to obtain status predication in EKF
WhereinIt is the EKF state optimizations estimation of kth step,Representative has carried out step state transfer
Status predication estimate afterwards, FkIt is the first order Taylor expansion of formula (5)；
2) second formula obtains state estimation error covariance Pk+1|kEquation of transfer,
Pk+1|k=FkPk|kFk T+Qk, wherein Pk|kIt is that kth step error covariance is estimated, Pk+1|kIt is that the step state that carried out turns
Later error covariance estimation, QkIt is process noise covariance matrix；
3) the 3rd formula is kalman gain Kk+1Calculate,
Wherein HkIt is formula (6) non-linear observational equation to state
The first order Taylor expansion coefficient matrix of variable；
4) the 4th formula is filtering estimation equation, and the state according to observation updates, and obtains the EKF states of the step of kth+1
Optimal estimation
5) the 5th is state estimation error co-variance matrix renewal equation, Pk+1|k+1=[I-Kk+1Hk+1]Pk+1|k, wherein
Pk+1|k+1It is the error covariance estimation renewal of the step of kth+1, I is unit matrix.
Step 3 is based on system dynamics equation and observational equation in step 1, is based on using pseudo- spectrometry off-line calculation continuous
The operation robot trajectory planning of controling power.Order
AndUa=[ax ay az]T, then the kinetic model state equation that can be simplified is：
Xk+1=AXk+BUak (7)
UakIt is UaIn the value at kth moment,
03×3Represent the row null matrix of 3 row 3, I3×3Represent the list bit matrix of 3 row 3.
Using Gauss puppet spectrometry to operation robot the flight time be t ∈ [t0,tf] offline trajectory planning is carried out, plan
Optimization aim can need selected, t according to specific tasks0It is to approach initial time, tfIt is to expect the end time.It is pseudo- in Gauss
In spectrometry, the dynamic differential model constraint of continuous control power best approximation track Solve problems can turn to 6K dimensions algebraically about
Beam, K is track sampled point number, and needs to meet input constraint simultaneously for-amax≤ai≤amax(i=x, y, z).The pseudo- spectrum of Gauss
Method is solved and uses standard planning method, is not patented invention, and the narration of Gu Buzai this patents obtains the offline rail under continuous control power
Mark is planned.Difference finally is carried out using K track sampled point, the coordinate representation of any discrete k moment offline trajectory planning is obtained
It is (xok yok zok)。
Step 4 uses Model Predictive Control (MPC) method, and the offline trajectory planning that will be obtained in step 3 is used as one
Track following optimization aim, and real time position estimated accuracy in step 2 is used as another optimization aim, control operation machine
The direction of people and speed.
Define UkFor the system at kth moment is input into, wherein Uk=[Ftk Fsxk Fsyk Fszk]T.It is that model prediction is pre- to define N
Survey time-domain window；XkIt is kth moment state vector；Xk+NBe predict time-domain window at the end of kth+n-hour done state arrow
Amount；UK=[Uk Uk+1 … Uk+N] it is the set for predicting the control sequence in time-domain window after Optimization Solution.
It is for each sampling instant limited open loop optimal control problem of k, MPC line solver:
And optimal problem meets constraint simultaneously
Wherein, Fx max, Fy max, Fz maxMaximum propulsion force value is represented, J is optimization object function, and Section 1 is the k+N moment
To Xk+NFisher information matrix Φ (the X of estimationk+N) the main diagonal element of inverse matrix and, i.e.,
WhereinRepresent Fisher information matrix Φ (Xk+N) inverse matrix (i, i) individual element.Fisher information matrix Φ
(Xk+N) following iterative formula calculating can be followed：
Whereinλ in optimization object function Section 21It is constant,It is directed to space rope system machine
One optimization of device people's optimal trajectory introductory path tracking
Treat that Model Predictive Control optimization clears out UKAfterwards, its first element UkCan be used as kth moment true control input
Control system.At at the moment of kth+1, repeat step 4, until operation robot approaches target.
Specific embodiment：
Fig. 1 is space rope system robot system figure.System is made up of satellite platform, tether, operation robot.Target is located at
The front of system.Satellite platform is more One function, quality and the larger satellite of volume.When satellite platform approaches target to
During set a distance, it is possible to launch operation robot and target is approached and arrested.Operation robot passes through in flight course
The relative position of monocular camera mounted thereto in real time to it between target is measured, and guiding operation robot is carried out
Correctly approach motor-driven.
Fig. 5 is the feedback arrangement figure of control system, first the angle information according to target relative to operation robot, is used
The relative position of EKF method estimation space operation robots and target.Then the estimate that EKF is obtained is fed back into model prediction
Control, Model Predictive Control is responsible for calculating the optimal input in prediction time-domain window, the speed of control operation robot and direction.
Fig. 2 is system coordinates definition figure.Definition treats that the body coordinate system of capture target is OtXyz, otX-axis points to target fortune
The tangential direction in dynamic rail road, otZ-axis points to the earth's core, otY-axis is determined that the navigation that approaches of robot for space is sat herein by the right-hand rule
It is described under mark system.Define OwWith the center that O is respectively robot satellite platform and operation robot, operation robot quality
It is m, the relative position of satellite platform and operation robot center in capture target body coordinate system is treated respectively Ow=(xw yw
zw)TWith O=(x y z)T, treat that capture target is defined as α, the angle of pitch and is defined as β relative to the azimuth of operation robot.Space
The force analysis of robot is as shown in figure 3, FtBe satellite platform to the tether tension force of operation robot, propeller gross thrust is Fs,
Wherein Fsx, Fsy, FszIt is FsAlong x, the component of y, z three axes, FsxParallel to x-axis, FsyParallel to y-axis, FszParallel to z
Axle, the horizontal stroke of camera imaging plane, ordinate are respectively u, v, and the focal length of camera is f.
Realize that the accurate approach method of operation robot monocular proposed by the present invention mainly there are 4 steps
Step 1：Dynamic Modeling mainly is carried out to operation robot, system state equation and camera observational equation is obtained.
In the present invention, the attitude of operation robot is assumed always to be accurately directed x-axis under high accuracy gyroscope instrument control system, therefore
This patent does not consider gesture stability problem.Based on this it is assumed that angular relationship according to Fig. 2, α, β can be sat by satellite platform position
Mark (xw yw zw) and operation robot position coordinates (x y z) be calculated：
The kinetics equation of space rope system robot system can be by the classical Clohesy-Wiltshire equation inferences of space Relative Navigation
Go out：
N is orbit angular velocity.
Target satellite is observed using operation robot camera, is defined according to Fig. 2 and Fig. 4, be imaged by pinhole camera
Principle can be derived：Then obtaining camera observational equation is：
Step 2：It is the system dynamics equation and camera observational equation obtained using step 1, uses extended pattern Kalman
Wave filter (EKF) realizes that relative position is estimated between operation robot and target, and obtains evaluating the covariance square of estimated accuracy
Battle array.Be defined as the discrete-time system state (position+speed) of the statement operation robot at kth moment by this：
Wherein xkValues of the variable x at the discrete time k moment is represented,Represent xkFirst derivative, be similar to notation methods should
For other variables of this patent.
It is discrete form that formula (1) system equation can also be reorganized：
Xk+1=Xk+T·fk (4)
Wherein T is discrete sampling time interval, is similar to definition and is applied to whole application.Nonlinear function f in formula (4)k
For：
According to formula (2), the discrete observation value for defining the system k moment is Yk=[uk vk], obtain camera discrete observation equation
For：
Five formula are filtered underneath with typical EKF realize state estimation：
First formula is state transition equation, it is therefore an objective to obtain status predication in EKFIts
InIt is the EKF state optimizations estimation of kth step,Representative has carried out the status predication estimate after step state transfer, Fk
It is the first order Taylor expansion coefficient of formula (5)：
Wherein
With
Wherein Δ x=xk-xw, Δ y=yk-yw, Δ z=zk-zw,I3×3Represent 3 rows 3
List bit matrix.
Second formula is state estimation error covariance Pk+1|kEquation of transfer, Pk+1|k=FkPk|kFk T+Qk, wherein Pk|k
It is that kth step error covariance is estimated, Pk+1|k Pk|kIt is that the step state that carried out turns later error covariance estimation, QkIt is process
Noise variance matrix, assumes Q in the present inventionk=0.
3rd formula is kalman gain Kk+1Calculate, its effect is control convergence speed, is expressed as：Wherein HkIt is formula (6) non-linear observational equation to the one of state variable
Rank Taylor expansion coefficient matrix, that is,
01×3Represent the row null matrix of 1 row 3.
4th formula estimates equation for filtering, and the state according to observation updates, and obtains the EKF states of the step of kth+1 most
Excellent estimation
5th is state estimation error co-variance matrix renewal equation, Pk+1|k+1=[I-Kk+1Hk+1]Pk+1|k, wherein
Pk+1|k+1It is the error covariance estimation renewal of the step of kth+1, I is unit matrix.
Five formula more than, it is possible to the relative position between real-time estimation operation robot and target.
Step 3：Based on system dynamics equation and observational equation in step 2, it is based on connecting using pseudo- spectrometry off-line calculation
The operation robot trajectory planning of continuous controling power.Order AndUa=[ax ay az]T, then the kinetic model state equation that can be simplified is：
Xk+1=AXk+BUak (9)
UakIt is UaIn the value at kth moment,
03×3Represent the row null matrix of 3 row 3, I3×3Represent the list bit matrix of 3 row 3.
Using Gauss puppet spectrometry to operation robot the flight time be t ∈ [t0,tf] offline trajectory planning is carried out, plan
Optimization aim can need selected, t according to specific tasks0It is to approach initial time, tfIt is to expect the end time.Continuous control
The dynamic differential model constraint of power best approximation track Solve problems can turn to 6K dimension Algebraic Constraints, and K is track sampled point
Number, and need to meet input constraint simultaneously for-amax≤ai≤amax(i=x, y, z).Operation robot thruster thrust has
Limit, it is stipulated that the acceleration that thruster prolongs change in coordinate axis direction maximum and can provide is amax.Gauss puppet spectrometry is solved and uses standard planning
Method, is not patented invention, and the narration of Gu Buzai this patents obtains the offline trajectory planning under continuous control power.Finally use K
Track sampled point carries out difference, and the coordinate representation for obtaining any discrete k moment offline trajectory planning is (xok yok zok)。
Step 4：Using model predictive control method, and the offline trajectory planning that will be obtained in step 3 is used as a track
Real-time relative position estimated accuracy in tracking optimization aim, and step 2 is used as another optimization aim, control operation machine
The direction of people and speed.
Define UkFor the system at kth moment is input into, wherein Uk=[Ftk Fsxk Fsyk Fszk]T.It is that model prediction is pre- to define N
Survey time-domain window；XkIt is kth moment state vector；Xk+NBe predict time-domain window at the end of kth+n-hour done state arrow
Amount；UK=[Uk Uk+1 … Uk+N] it is the set for predicting the control sequence in time-domain window after Optimization Solution.
It is for each sampling instant limited open loop optimal control problem of k, MPC line solver:
And optimal problem meets constraint simultaneously
Wherein, wherein, Fx max, Fy max, Fz maxMaximum propulsion force value is represented, J is optimization object function, and Section 1 is k+N
Moment is to Xk+NFisher information matrix Φ (the X of estimationk+N) the main diagonal element of inverse matrix and, i.e.,WhereinRepresent Fisher information matrix Φ (Xk+N) inverse matrix (i, i) individual unit
Element.Fisher information matrix Φ (Xk+N) following iterative formula calculating can be followed：
Whereinλ in optimization object function Section 21It is constant,It is directed to space rope system machine
One optimization of device people's optimal trajectory introductory path tracking
L1(X (k+i))=(xk+i-xo(k+i))2+(yk+i-yo(k+i))2+(zk+i-zo(k+i))2。
Treat that Model Predictive Control optimization clears out UKAfterwards, its first element UkCan be used as kth moment true control input
Control system.At at the moment of kth+1, repeat step 4, until operation robot approaches target.
The key that the inventive method is realized is the angle information obtained to target just with camera, sets up and is based on Kalman
The state estimation of wave filter, and the direction using Model Predictive Control Algorithm control operation robot and speed, by wave filter
State estimation and path trace joint are optimal, so that on the one hand spatial operation robot is approached target, the opposing party
The relative position that face monocular obtains accuracy guarantee is estimated.
Claims (1)
1. the accurate approach method of a kind of space rope system robot vision, it is characterised in that：The body coordinate system for treating capture target is
OtXyz, OwWith the center that O is respectively robot satellite platform and operation robot, operation robot quality be m, satellite platform and
Relative position of the operation robot center in capture target body coordinate system is treated respectively Ow=(xw yw zw)TWith O=(x y
z)T, treat that capture target is defined as α, the angle of pitch and is defined as β, F relative to the azimuth of operation robottBe satellite platform to operation
The tether tension force of robot, propeller gross thrust is Fs, wherein Fsx, Fsy, FszIt is FsAlong x, the component of y, z three axes, phase
The horizontal stroke of machine imaging plane, ordinate are respectively u, v, and the focal length of camera is f；Approximation step is as follows：
Step 1：Dynamic Modeling is carried out to operation robot, the system dynamics equation and camera of robot of space rope system is obtained
Observational equation：
System dynamics equation
Wherein：N is orbit angular velocity.
Camera observational equation is：
Step 2：System dynamics equation and camera observational equation are filtered using extended pattern Kalman filter EKF, are obtained
To the estimate and the covariance matrix of evaluation estimated accuracy of relative position between operation robot and target；
Step 3：Using pseudo- spectrometry, based on system dynamics equation, obtain the robot of space rope system based on continuous control power and force
The offline trajectory planning of close-target；
Step 4：Using Model Predictive Control MPC methods, the trajectory planning tracking accuracy obtained to step 3 is excellent as a totality
Change target, the estimated accuracy obtained to step 2 is used as another optimization aim, the direction of motion of control operation robot and motion
Speed, realization is treated the accurate of capture target and is approached.
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Cited By (4)
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| CN109048890A (en) * | 2018-07-13 | 2018-12-21 | 哈尔滨工业大学（深圳） | Coordination method for controlling trajectory, system, equipment and storage medium based on robot |
| CN110196445A (en) * | 2019-06-07 | 2019-09-03 | 西北工业大学 | Space three-body system multisensor accurate positioning method under tether constraint |
| CN111975777A (en) * | 2020-08-21 | 2020-11-24 | 哈尔滨工业大学 | Robot joint space self-adaptive trajectory planning method based on Radau pseudo-spectrum |
| CN113821026A (en) * | 2021-08-27 | 2021-12-21 | 中国人民解放军军事科学院战争研究院 | RHC-based on-line track tracking control method for rod-connected pulling type unmanned system |
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| CN113821026A (en) * | 2021-08-27 | 2021-12-21 | 中国人民解放军军事科学院战争研究院 | RHC-based on-line track tracking control method for rod-connected pulling type unmanned system |
| CN113821026B (en) * | 2021-08-27 | 2023-11-14 | 中国人民解放军军事科学院战争研究院 | Online track tracking control method of rod-pull type unmanned system based on RHC |
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