CN107193208A - A kind of control method of the unilateral traveling of intelligent vehicle - Google Patents
A kind of control method of the unilateral traveling of intelligent vehicle Download PDFInfo
- Publication number
- CN107193208A CN107193208A CN201710322586.7A CN201710322586A CN107193208A CN 107193208 A CN107193208 A CN 107193208A CN 201710322586 A CN201710322586 A CN 201710322586A CN 107193208 A CN107193208 A CN 107193208A
- Authority
- CN
- China
- Prior art keywords
- intelligent vehicle
- angle
- electric machine
- control
- brushless electric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000000295 complement effect Effects 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000004927 fusion Effects 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 4
- 230000009125 negative feedback regulation Effects 0.000 claims description 3
- 238000007500 overflow downdraw method Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of control method of the unilateral traveling of intelligent vehicle, this method detects body sway degree by attitude transducer in real time, controller receives sensing data, according to expected inclined degree, brushless electric machine, brushless electric machine is controlled to drive propeller to produce pulling force control body sway using specific control algolithm output duty cycle.By the intelligent vehicle attitude angle information measured, four-wheel intelligent vehicle is allowd to keep a fixed angle the rotating speed that controls propeller, to realize unilateral traveling.The dynamic tracking accuracy of the complementary filter algorithm of the present invention is high, and the algorithm realizes the unilateral traveling of four-wheel intelligent vehicle, in terms of speed course changing control, and the position deviation performance of four-wheel intelligent vehicle is good.
Description
Technical field
The present invention relates to the control method of intelligent vehicle technical field, more particularly to a kind of unilateral traveling of intelligent vehicle.
Background technology
It is intelligent to turn into the development trend of today's society with developing rapidly for artificial intelligence technology.Wherein, intelligent vehicle
Technology is even more to turn into the hot fields that people study.Intelligent vehicle falls within a kind of mobile robot in itself, mainly passes through
Various sensors recognize surrounding environment, and pass through speed of each Implement of Function Module to intelligent vehicle, the control of direction and posture
System, so that intelligent vehicle in the process of moving can be more safe and reliable.Passage path planning, machine vision, target are known
Not, the technology such as multi-sensor information fusion, it is possible to achieve the independent navigation of intelligent vehicle, automatic obstacle avoiding control.
At present, Intelligent Control Theory and technology are made constant progress, and intelligent vehicle technology is also constantly maked rapid progress, many intelligence
The energy experiment porch of car and the intelligent vehicle DAS (Driver Assistant System) of commercialization have been developed rapidly, have research to think that intelligent automobile is made
For a kind of brand-new automobile concept and automobile product, automobile production and the main flow production of automobile market can be turned into the near future
Product.
The posture inclination data of intelligent vehicle calculate be the unilateral traveling of intelligent vehicle design in an important link, intelligent vehicle
Attitude Algorithm have influence on the stability of intelligent vehicle driving posture, so, the selection of Attitude Algorithm and data fusion seem particularly
It is important.Attitude algorithm is the key technology of strap-down inertial navigation system, and the posture and navigational parameter for obtaining carrier calculate needs
Data, be the important process in strapdown inertia algorithm, control system also requires that navigation calculates link and can reasonably describe to carry
The rigid space motion of body.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of control method of the unilateral traveling of intelligent vehicle, and this method can be square
Just the unilateral traveling control of intelligent vehicle system is realized.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of control method of the unilateral traveling of intelligent vehicle, should
Method includes：
Detect body sway angle in real time by sensor, and send data to controller；
Controller receives the data of sensor, according to expected inclined degree, utilizes specific control algolithm output duty cycle control
Brushless electric machine processed, brushless electric machine controls body sway by acting on propeller.
It is described to detect body sway angle in real time by sensor, including：Using quaternion algebra according to warm method, by right
The data of accelerometer and gyroscope carry out fusion treatment, eliminate the error of integral operation accumulation, and the vehicle body for obtaining intelligent vehicle inclines
Angular data.
The transformational relation of navigational coordinate system and carrier coordinate system is described by Quaternion Method.
According to Quaternion Method and the initial parameter of setting, the attitude angle of intelligent vehicle gyroscope is obtained.
The attitude angle is corresponding with being rotated around z-axis including rotating correspondence reclining angle around x-axis, correspondence roll angle being rotated around y-axis
Yaw angle.
Intelligent vehicle attitude algorithm based on complementary filter, obtains correction error of the accelerometer to gyroscope.
Using MUP6050 modules, the data to accelerometer and gyroscope carry out fusion treatment.
Using quaternion algebra according to fusion method, the more stable inclination data of intelligent vehicle is obtained.
The unilateral traveling angle of expectation of intelligent vehicle controls brushless electric machine by angle ring PID controller, and brushless electric machine passes through
Drive propeller to produce pulling force, car body actual angle of inclination is obtained by complementary filter algorithm, the unilateral traveling of control system is realized
Negative-feedback regu- lation.
The rotational speed regulation of motor and the angular adjustment of steering-engine are realized by pid control algorithm, intelligent vehicle
Movement velocity and the direction of motion use closed-loop control.
Based on above-mentioned technical proposal, the present invention detects body sway degree by attitude transducer in real time, and controller is received
Sensing data, according to expected inclined degree, brushless electric machine, brushless electric machine band are controlled using specific control algolithm output duty cycle
Dynamic propeller produces pulling force control body sway.The dynamic tracking accuracy of the complementary filter algorithm of the present invention is high, and the algorithm
The unilateral traveling of four-wheel intelligent vehicle is realized, in terms of speed course changing control, the position deviation performance of four-wheel intelligent vehicle is good.
Brief description of the drawings
Fig. 1 defines the schematic diagram of attitude angle for the carrier coordinate system and navigational coordinate system of the embodiment of the present invention；
Fig. 2 is the complementary filter blending algorithm theory diagram of the embodiment of the present invention；
Fig. 3 is the unilateral traveling control algolithm block diagram of intelligent vehicle of the embodiment of the present invention；
Fig. 4 is the 1st group of experimental waveform of the embodiment of the present invention；
Fig. 5 is the 2nd group of experimental waveform of the embodiment of the present invention.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
According to one embodiment of present invention, a kind of control method of the unilateral traveling of intelligent vehicle, this method bag are proposed
Include：Detect body sway angle in real time by attitude transducer, and send data to controller；Controller receives sensor
Data, according to expected inclined degree, brushless electric machine are controlled using specific control algolithm output duty cycle, brushless electric machine passes through effect
Body sway is controlled in propeller.By the intelligent vehicle attitude angle information measured, to control the rotating speed of propeller so that four-wheel intelligence
Energy car can keep a fixed angle, to realize unilateral traveling.
The posture of carrier and course embody the position relation between carrier coordinate system and navigational coordinate system, determine two seats
Position relation between mark system needs the shifting theorem by the motion of rigid-body with a fixed point in matrix method and mechanics.Pushed away by matrix method
Direction cosines table is led, and the shifting theorem of motion of rigid-body with a fixed point shows, any finite displacement of fixed-point motion rigid body can be around
The a certain axle for crossing fixed point is realized by once rotating.
Presently described moving axes has a variety of with respect to the method for reference frame position relation, can simply be classified as 3 classes,
That is three parametric methods, four parametric methods and nine parametric methods.Three parametric methods are also Euler's horn cupping, and four parametric methods are often referred to Quaternion Method, nine
Parametric method is referred to as direction cosine method.Euler's horn cupping is difficult to be widely used in engineering due to cannot be used on full posture flight carrier
Practice, and real time calculation difficult.Direction cosine method avoids " singular point " phenomenon of Euler method, but equation computationally intensive, work
Efficiency is low.With the application developed rapidly with digital computer in motion control of flight carrier navigation control system, control
System requirements navigation processed, which calculates link, can more reasonably describe the rigid space motion of carrier, and the research of Quaternion Method is obtained
Extensive use.
It is described to detect body sway angle in real time by attitude transducer, including：Using quaternion algebra according to warm method, lead to
Cross and fusion treatment is carried out to the data of accelerometer and gyroscope, obtain the car body obliqueness data of intelligent vehicle.
In attitude algorithm, define two coordinate system navigational coordinate system n systems and carrier (body) coordinate system b systems to represent appearance
Coordinate system is set up in state angle, wherein navigational coordinate system using northeast day, and the origin of coordinates o of navigational coordinate system is located at the matter of carrier
The heart；Carrier coordinate system is used on before the right side and sets up coordinate system, and carrier coordinate system origin o is overlapped with navigational coordinate system origin o.Attitude angle
Definition as shown in figure 1, around x-axis rotate correspondence reclining angle (pitch), around y-axis rotate correspondence roll angle (roll), around z-axis revolve
Turn correspondence yaw angle (yaw), φ, θ, ψ respectively shown in three axle Eulerian angles.
The transformational relation of description navigational coordinate system and carrier coordinate system generally has three kinds of methods：Euler's horn cupping, direction cosines
Method, Quaternion Method.Here from turn that amount of calculation is small, the simple Quaternion Method of algorithm describes navigational coordinate system and carrier coordinate system
Change relation.Quaternary number q defined in SINS theory：
Q=q0+q1i+q2j+q3K=[q0 q1 q2 q3]T (1)
In formula (1), q0For the scalar component of quaternary number, q1、q2、q3For the vector section of quaternary number, wherein i2=j2=
k2=-1.
Quaternion differential equation is：
In formula (2)：Quaternary number for b systems with respect to n systems；ForDerivative.
Define gyroscope angular velocity measurement output valve beIt can obtain
Quaternion differential equation is solved using the method for first discrete rear iteration.Definition system communication cycle is Ts,
Quaternary number equation is after discretization：
Spin matrix of the carrier coordinate system to navigational coordinate systemIt is expressed as by unitization quaternary number：
According to yzx along rule, three attitude angles can be solved：
Assuming that initial attitude quaternary number is given asIt can be obtained by formula (4) and (5)tThe quaternary at moment
NumberIt is three axle Eulerian angles φ, θ, the ψ that can obtain t to substitute into formula (7).
Further, the intelligent vehicle attitude algorithm based on complementary filter, obtains correction error of the accelerometer to gyroscope.
Specifically, if accelerometer is output as in b systemsbG=[bgx bgy bgz]T, can be obtained after normalization：
Wherein | |bG | | the 2- norms exported for accelerometer in b systems.Acceleration of gravity is output as in n systemsng*=
[0 0 1]T, thenng*Being projected as in b systems：
In formula (9)To be tied to the transfer matrix of b systems from n.In b systems to accelerometer export N (bG) andbg*Do to
The computing of amount product can obtain correction error of the accelerometer to gyroscope：
In formula (10) × it is vector product calculation.
Error will be correctedIt can be obtained by ratio and integral operation
K in formula (11)pFor proportionality coefficient, KiFor integral coefficient.
In summary, complementary filter blending algorithm theory diagram is obtained as shown in Figure 2.
Further, the acceleration magnitude on one of direction is measured, then can calculate the inclination angle of intelligent vehicle, for example, use
Acceleration signal in Z-direction.When intelligent vehicle is upright, fixed accelerometer is in Z axis horizontal direction, and now output signal is zero
Bias-voltage signal.When intelligent vehicle run-off the straight, gravity acceleration g will be in Z-direction formation component of acceleration, so as to cause
The axle output voltage changes.The rule of change is：
Δ u=kgsin θ ≈ kg θ (12)
In formula (12), g is acceleration of gravity；θ is intelligent vehicle inclination angle；K is acceleration transducer sensitivity coefficient coefficient.When
When inclination angle theta is smaller, the change of output voltage approximately can be directly proportional to intelligent vehicle inclination angle.Seem to only need to acceleration just
The inclination angle of intelligent vehicle, which can be obtained, then carry out differential to this signal just can obtain the angular speed at inclination angle.But in actual intelligence
In car running, because the acceleration produced by the swing of intelligent vehicle in itself can produce very big interference signal, it is superimposed upon
Cause output signal can not accurately reflect the inclination angle of intelligent vehicle in above-mentioned measurement signal.
Due to gyroscope export be intelligent vehicle angular speed, will not be influenceed by body movement, therefore in the signal
Noise very little.The angle of intelligent vehicle is to be integrated and obtained by angular velocity again, and this can further smooth signal, so that angle
Signal is more stablized.Therefore the angle and angular speed required for intelligent vehicle control can use the signal obtained by gyroscope.By
In obtaining angle information from gyroscope angular speed, it is necessary to by integral operation.If angular velocity signal exist small deviation and
Drift, after integral operation, change forms accumulated error.This error can be stepped up as time went on, finally be led
Road saturation is sent a telegraph, thus correct angle signal can not be formed.
The embodiment of the present invention uses MUP6050 modules, and the data to accelerometer and gyroscope carry out fusion treatment, use
Quaternion algebra eliminates the error of integral operation accumulation, obtains the more stable inclination data of intelligent vehicle according to fusion method.
Fig. 3 is the unilateral traveling control algolithm block diagram of intelligent vehicle.θ in figurerTo expect unilateral traveling angle, also both intelligent vehicle list
Holding angle when side is travelled；θ is the car body actual angle of inclination that complementary filter algorithm is calculated.θrPass through angle ring PID control
Device control brushless electric machine acts on propeller, and brushless electric machine is obtained by driving propeller to produce pulling force by complementary filter algorithm
θ, so as to realize the negative-feedback regu- lation of the unilateral traveling of control system.
The rotational speed regulation of motor and the angular adjustment of steering-engine are realized by pid control algorithm, intelligent vehicle
Movement velocity and the direction of motion use closed-loop control.
The embodiment of the present invention is mainly done to verify the steady stability effect and dynamic tracking accuracy of complementary filter algorithm
Two groups of experiments：The steady stability performance of roll angle when 1. four-wheel intelligent vehicle four-wheel is travelled；2. during the unilateral traveling of four-wheel intelligent vehicle
Given 70 ° of roll angle, the performance of dynamic tracking for the posture that complementary filter algorithm is resolved.
1st group of experimental waveform is as shown in Figure 4.Ordinate is roll angle in figure, and abscissa is the time, and the waveform is four-wheel intelligence
The static waveform of roll angle during energy car four-wheel traveling.It can be obtained by waveform, when four-wheel is travelled, the maximum of the roll angle of intelligent vehicle
Value and minimum value are 0.1, are basically stable at 0 °, meet the required precision of algorithm.
2nd group of experimental waveform is as shown in Figure 5.Ordinate represents the horizontal stroke for the four-wheel intelligent vehicle that complementary filter algorithm is resolved in figure
Roll angle, abscissa is the time.Herein, because the roll angle of intelligent vehicle depends on the hardware design of intelligent vehicle, propeller rotation
The angle of center line and intelligent vehicle running ground be 20 °, therefore roll angle is 70 °.It is manual in 1.2s it can be seen from waveform
Open after unilateral driving functions, in 1.5s, the posture of intelligent vehicle reaches 70 °, and basic non-overshoot phenomenon, steady always afterwards
It is scheduled on 70 ° of travelings.The dynamic tracking accuracy of the results show complementary filter algorithm is high, and the algorithm realizes four-wheel intelligence
The unilateral traveling of energy car.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (9)
1. a kind of control method of the unilateral traveling of intelligent vehicle, it is characterised in that including：
Body sway angle is detected by sensor, and sends data to controller；
Controller receives the data of sensor, controls brushless electric machine according to expected inclined degree, brushless electric machine passes through propeller control
Body sway processed.
2. according to the method described in claim 1, it is characterised in that described to detect body sway angle by sensor, including：
Using quaternion algebra according to warm method, fusion treatment is carried out by the data to accelerometer and gyroscope, intelligent vehicle is obtained
Car body obliqueness data.
3. method according to claim 2, it is characterised in that navigational coordinate system and carrier coordinate are described by Quaternion Method
The transformational relation of system.
4. method according to claim 3, it is characterised in that according to Quaternion Method and the initial parameter of setting, obtain intelligence
The attitude angle of energy car gyroscope.
5. method according to claim 4, it is characterised in that the attitude angle include around x-axis rotate correspondingly reclining angle, around
Y-axis rotation correspondence roll angle rotates corresponding yaw angle with around z-axis.
6. method according to claim 5, it is characterised in that the intelligent vehicle attitude algorithm based on complementary filter, is added
Correction error of the speedometer to gyroscope.
7. method according to claim 6, it is characterised in that use MUP6050 modules, to accelerometer and gyroscope
Data carry out fusion treatment, using quaternion algebra according to fusion method, obtain the inclination data of intelligent vehicle.
8. according to the method described in claim 1, it is characterised in that the unilateral traveling angle of expectation of intelligent vehicle passes through angle ring
PID controller controls brushless electric machine, and it is real that brushless electric machine obtains car body by driving propeller to produce pulling force, by complementary filter algorithm
Border angle of inclination, realizes the negative-feedback regu- lation of the unilateral traveling of control system.
9. according to the method described in claim 1, it is characterised in that the rotating speed for realizing motor by pid control algorithm is adjusted
The angular adjustment of section and steering-engine, the movement velocity and the direction of motion of intelligent vehicle use closed-loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322586.7A CN107193208A (en) | 2017-05-09 | 2017-05-09 | A kind of control method of the unilateral traveling of intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322586.7A CN107193208A (en) | 2017-05-09 | 2017-05-09 | A kind of control method of the unilateral traveling of intelligent vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107193208A true CN107193208A (en) | 2017-09-22 |
Family
ID=59872626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710322586.7A Pending CN107193208A (en) | 2017-05-09 | 2017-05-09 | A kind of control method of the unilateral traveling of intelligent vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107193208A (en) |
-
2017
- 2017-05-09 CN CN201710322586.7A patent/CN107193208A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Ding et al. | Event-triggered vehicle sideslip angle estimation based on low-cost sensors | |
| CN109141410B (en) | Multi-sensor fusion positioning method for AGV (automatic guided vehicle) combined navigation | |
| CN110146077A (en) | Pose of mobile robot angle calculation method | |
| CN105172793B (en) | The pose evaluation method of autonomous driving vehicle | |
| CN103940442B (en) | A kind of localization method and device using acceleration convergence algorithm | |
| CN106444804A (en) | Complementary filtering algorithm and cascade PID based four-rotor aircraft design method | |
| CN109460052A (en) | A kind of control method for spelling group aircraft | |
| CN102809377A (en) | Aircraft inertia/pneumatic model integrated navigation method | |
| CN104765272A (en) | Four-rotor aircraft control method based on PID neural network (PIDNN) control | |
| CN109108936A (en) | A kind of the self-balance robot control system and control method of Multiple Source Sensor data fusion | |
| CN107289930A (en) | Pure inertia automobile navigation method based on MEMS Inertial Measurement Units | |
| CN104697526A (en) | Strapdown inertial navitation system and control method for agricultural machines | |
| CN111930126B (en) | Navigation deviation rectifying method based on differential wheel set AGV | |
| CN105841698A (en) | AUV rudder angle precise real-time measurement system without zero setting | |
| CN110109354A (en) | A kind of reaction wheel balance-bicycle robot adaptive sliding-mode observer method | |
| CN110162068A (en) | A kind of control method of self-balance robot | |
| CN105680736A (en) | Yaw angle-based double-motor speed synchronization and balance control method | |
| CN107102653A (en) | A kind of apparatus and method for the carry equipment angle over the ground for controlling unmanned plane | |
| Lamon et al. | 3D position tracking in challenging terrain | |
| CN108507572A (en) | A kind of attitude orientation error correcting method based on MEMS Inertial Measurement Units | |
| JP7449570B2 (en) | Integrated control method for balancing two-wheeled vehicles using control moment gyro and drive-by-wire steering system | |
| CN110109353B (en) | Fuzzy self-adaptive sliding-mode control system of counteractive wheel balance bicycle robot | |
| CN107193208A (en) | A kind of control method of the unilateral traveling of intelligent vehicle | |
| CN114295145B (en) | Method for designing strapdown inertial navigation system track generator based on vehicle-mounted emission platform | |
| CN113515133B (en) | AGV force control method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170922 |