CN109388140A - A kind of improved pure tracing control method for surface car path trace - Google Patents
A kind of improved pure tracing control method for surface car path trace Download PDFInfo
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Abstract
The invention discloses a kind of improved pure tracing control methods for surface car path trace, it is related to surface car Navigation Control field, the navigational parameter that this method is provided according to Vehicular navigation system, judge the relationship between vehicle course deviation and ideal line corrected course angle, and the positive negative selection of lateral deviation is combined to use small arc-shaped path tracking algorithm or orthodrome path tracking algorithm, dynamic adjustment can be carried out to vehicle forward direction according to vehicle real time kinematics state, more particularly to solve the case where excessively adjusting when front-wheel expectation corner is larger, it is good to can be realized stability, path following control with high accuracy.
Description
Technical field
The present invention relates to surface car Navigation Control field, more particularly to one kind are improved for surface car path trace
Pure tracing control method.
Background technique
Recently as the fast development of automatic control technology, airmanship and sensor measuring technology, surface car is automatic
Driving technology has obtained rapid progress.In business and agriculture field, Vehicular automatic driving technology can liberate manpower, improve and pass through
Or operating efficiency.The key of surface car automatic Pilot is two aspects, the precise measurement and control of vehicle location.Wherein vehicle
The precise measurement of position can be completed by modern airmanship, can realize that centimeter-level positioning measures, and the essence of vehicle location
Really there is also certain challenges for control.The key that vehicle location accurately controls is path following control, current existing path
Tracking and controlling method mainly includes PID control, fuzzy control, optimum control and pure Tracing Control.PID control is generated based on error
Control strategy does not depend on concrete mathematical model, is widely used, but control parameter adjusting is difficult, needs certain experience and a large amount of
Experiment；Fuzzy control does not depend on auto model, but the experience of expert is needed to formulate control rule, and tracking error is big and is difficult to quickly
Amendment；Optimum control relies on accurate vehicle kinematics and kinetic model, for the different road conditions of different vehicle traveling, vehicle
Kinematics and dynamics modeling robustness and adaptability are poor；Pure method for tracing is a kind of method of geometry, and control parameter is few, algorithm
The driving behavior of design simulation people has foresight, but forward sight distance is affected, even if carried out using dynamic adjusting method
It is adaptively selected, when front-wheel expectation corner is larger, it still will appear the appearance for adjusting and path trace error excessively being caused to be shaken.
The disclosure of the invention of Publication No. CN105867377A a kind of automatic steering control of farm mechanism control method, this method are examined
The camber of speed and planning path is considered, and has realized the dynamic adjustment of forward sight distance based on this, has then chased after fuzzy control with pure
Track algorithm combines to obtain front-wheel expectation corner, realizes the path following control of agricultural machinery.This method does not account for the front-wheel phase
It hopes corner is larger to will lead to the case where path trace error will appear concussion, is difficult to realize planning path when desired corner is larger
Stabilization accurately track.To solve the above problems, Chen Ning etc. (referring to Chen Ning etc., a kind of pure tracing model innovatory algorithm, light industry machine
Tool, 2014,32 (4): 69-72.) on the basis of analyzing pure tracing model Algorithm Error principle, it proposes a kind of improved pure
Path trace is decomposed into three steps by tracing algorithm, and has calculated separately out the front-wheel expectation corner of every step.This method can be one
Determine to improve path trace precision in degree, but this method passes through simplified model and approximation when the front-wheel for calculating every step it is expected corner
It obtains, parameters obtained is more rough, dynamic adjustment can not be carried out according to actual travel situation, and parameters obtained is also for spy
The optimization that implementations carry out lacks versatility.
Summary of the invention
The shortcomings that in order to overcome above-mentioned technical method, the purpose of the present invention is to provide a kind of improved for surface car
The pure tracing control method of path trace.The positive and negative and vehicle course deviation and ideal line of the comprehensive vehicle lateral deviation of this method
Relationship between corrected course angle selects suitable path following method, realizes that stability is good, path following control with high accuracy.
In order to achieve the above object, the technical solution adopted in the present invention is as follows:
A kind of improved pure tracing control method for surface car path trace, this method is according to Vehicular navigation system
The navigational parameter of offer judges the relationship between course deviation and ideal line corrected course angle, and combines lateral deviation just
Negative, selection uses small arc-shaped path tracking algorithm or orthodrome path tracking algorithm: with any two vertical boundaries of field
For x and y-axis, field plane coordinate system xoy is established by origin o of two boundary intersections, current vehicle position is C (xc,yc), expectation
Position is C ' (xc’,yc'), first in advance take aim at a little be P (xp,yp), second in advance take aim at a little be P ' (xp’,yp’), C ' P be planning path (from
It is planning path positive direction that C ', which is directed toward P), the abscissa difference of current location C and desired locations C ' are lateral deviation Δ x, currently
Δ x is negative value when position C is to the left compared to desired locations C ', and Δ x is when current vehicle position C is to the right compared to desired locations C '
Positive value；Line segment CP is the ideal line corrected course of track of vehicle, and positive direction is directed toward P, CP positive direction and planning path C ' P from C
Positive direction angle is ideal line corrected course angle, and ideal line corrects when CP positive direction is to the left relative to C ' P positive direction
Course angle is negative value, and ideal line corrected course angle is positive value when to the right；The real-time course of vehicle is CE, and positive direction is directed toward E from C,
CE positive direction and planning path C ' P positive direction angle are that course deviation Δ θ, CE positive direction is to the left relative to C ' P positive direction
When Δ θ be negative value, when to the right Δ θ be positive value；Circular arc C P is camber line correcting route；When vehicle course deviation Δ θ is greater than ideal directly
Line corrected course angle (i.e. CE is on the right side of CP) and lateral deviation are timing, using small arc-shaped path tracking algorithm；When vehicle course
When deviation delta θ is greater than ideal line corrected course angle (i.e. CE is on the right side of CP) and lateral deviation and is negative, using orthodrome path with
Track algorithm；When vehicle course deviation Δ θ is less than ideal line corrected course angle (i.e. CE is on the left of CP) and lateral deviation is negative,
Using small arc-shaped path tracking algorithm；Vehicle course deviation Δ θ be less than ideal line corrected course angle (i.e. CE is on the left of CP) and
Lateral deviation is timing, using orthodrome path tracking algorithm；When vehicle course deviation Δ θ is equal to ideal line corrected course angle
When, steering wheel return just, is travelled by current course angle.
Further, the small arc-shaped path tracking algorithm is realized and is corrected by following steps:
(1) each control period is 1 outer circulation large period, and 1 outer circulation large period includes multiple interior circulation minor cycles,
Interior cycle-index default setting is 4, and can be adjusted according to actual needs；
(2) first group of navigation positioning data is obtained in new outer loop cycles, determines that first takes aim at point P point coordinate in advance, is counted
Center of circle radius corresponding to small arc-shaped is calculated, and is scaled front-wheel expectation corner；
(3) front-wheel expectation corner control vehicle front-wheel steer is pressed, vehicle starts to travel along CP circular arc course line；
(4) inside circulation the minor cycle 1. in monitor vehicle course deviation Δ θ and lateral deviation Δ x, if Δ θ * Δ x > 0,
Then continue to travel along CP circular arc course line, while judging vehicle location in the inside of CP circular arc or outside, and according to judging result
Adjustment correction vehicle actual path by a small margin is carried out to front-wheel steer；If Δ θ * Δ x≤0, enter the interior circulation minor cycle 2.；
(5) inside the circulation minor cycle 2. in, will take aim in advance point by first it is pre- take aim at point P point and be changed to second take aim at point P ' point in advance, and sentence
The relationship of the disconnected real-time course CE of vehicle and new ideal line corrected course CP ' and lateral deviation Δ x's is positive and negative, if CE exists
On the left of CP ' and Δ x<0 or CE then continue to travel along CP circular arc course in the right side CP ' and Δ x>0；If CE on the left of the CP ' and
3. Δ x>0 or CE then enter the interior circulation minor cycle in the right side CP ' and Δ x<0；
(6) the circulation minor cycle is 3. interior inside, and just, vehicle is travelled according to new ideal line course CP ' for circulation before controlling, and
Its actual path is adjusted by a small margin according to the relative positional relationship of vehicle real time position and CP '；
(7) above step (4)~(6) are repeated, until outer circulation large period terminates.
Further, the orthodrome path tracking algorithm is realized by following steps:
(1) each control period is 1 outer circulation, and 1 outer circulation large period includes multiple interior circulation minor cycles, interior circulation
Number default setting is 4, and can be adjusted according to actual needs；
(2) first group of navigation positioning data is obtained in new outer circulation large period, is determined that first takes aim at point P in advance, is calculated big
Center of circle radius corresponding to circular arc, and it is scaled front-wheel expectation corner；
(3) front-wheel expectation corner control vehicle front-wheel steer is pressed, vehicle starts to travel along CP circular arc course line；
(4) inside circulation the minor cycle 1. in monitor vehicle course deviation Δ θ and lateral deviation Δ x, if Δ θ * Δ x < 0,
Then continue to travel along CP circular arc course line, while judging vehicle location in the inside of CP circular arc or outside, and according to judging result
Adjustment correction vehicle actual path by a small margin is carried out to front-wheel steer；If Δ θ * Δ x >=0, enter the interior circulation minor cycle 2.；
(5) the circulation minor cycle is 2. interior inside, and circulation just, directly is continued to travel by 0 ° of course angle before controlling vehicle, and according to
Vehicle real time position carries out fine tune to its actual path；
(6) above step (4)~(5) are repeated, until outer circulation large period terminates.
Described pre- take aim at determines a method are as follows: forward sight distance can be for preset value or by considering car speed and planning road
The Dynamic calculation method of diameter camber obtains, and the point nearest from current vehicle position is searched in planning path, with this as the starting point to
Preceding interception forward sight distance obtains first and takes aim at point P in advance, and 2 times of forward sight distances of interception obtain second and take aim at point P ' in advance forward.
The beneficial effects of the present invention are:
The present invention improves pure tracing algorithm, comprehensively considers the positive and negative and vehicle course deviation of lateral direction of car deviation
Relationship between ideal line corrected course angle selects suitable path following method, can be according to vehicle real time kinematics state pair
Vehicle forward direction carries out dynamic adjustment, more particularly to solve the case where excessively adjusting when front-wheel expectation corner is larger, Neng Goushi
Existing stability is good, path following control with high accuracy.
Detailed description of the invention
Figure 1A is when Δ x > 0 and small arc-shaped path tracking algorithm schematic diagram when CE is on the right side of CP；
Figure 1B is when Δ x < 0 and small arc-shaped path tracking algorithm schematic diagram when CE is on the left of CP；
Fig. 2A is when Δ x > 0 and orthodrome path tracking algorithm schematic diagram when CE is on the left of CP；
Fig. 2 B is when Δ x < 0 and orthodrome path tracking algorithm schematic diagram when CE is on the right side of CP；
Fig. 3 is small arc-shaped path tracking algorithm flow chart；
Fig. 4 is orthodrome path tracking algorithm flow chart.
Specific embodiment
To have a better understanding of the present invention, the present invention is made furtherly with embodiment with reference to the accompanying drawings of the specification
It is bright, but the invention is not limited to following embodiments.
In conjunction with shown in attached drawing 1A, 1B, Fig. 2A, 2B, with any two vertical boundaries of field for x and y-axis, with the friendship of two boundaries
Point is that origin o establishes field plane coordinate system xoy, and current vehicle position is C (xc,yc), desired locations C ' (xc’,yc'),
One takes aim at a little in advance as P (xp,yp), second in advance take aim at a little be P ' (xp’,yp’), C ' P be planning path (from C ' be directed toward P be planning path just
Direction), the abscissa difference of current location C and desired locations C ' are lateral deviation Δ x, and current location C is compared to desired locations
Δ x is negative value when C ' is to the left, and Δ x is positive value when current vehicle position C is to the right compared to desired locations C '；Line segment CP is vehicle rail
The ideal line corrected course (being directed toward P from C be ideal line corrected course is positive direction) of mark, CP positive direction and planning path C '
P positive direction angle is ideal line corrected course angle, and ideal line corrects when CP positive direction is to the left relative to C ' P positive direction
Course angle is negative value, and ideal line corrected course angle is positive value when to the right；The real-time course of vehicle is that (be directed toward E from C is vehicle reality to CE
Shi Hangxiang positive direction), CE positive direction and planning path C ' P positive direction angle be course deviation Δ θ, CE positive direction relative to
Δ θ is negative value when C ' P positive direction is to the left, and Δ θ is positive value when to the right；Circular arc C P is camber line correcting route.
A kind of improved pure tracing control method for surface car path trace, which is characterized in that this method according to
The navigational parameter that Vehicular navigation system provides, judges the relationship between vehicle course deviation and ideal line corrected course angle, and
In conjunction with the positive and negative of lateral deviation, selection uses small arc-shaped path tracking algorithm or orthodrome path tracking algorithm: when CE is in CP
Right side and when Δ x > 0, using small arc-shaped path tracking algorithm；When CE is on the right side of CP and when Δ x < 0, using orthodrome path trace
Algorithm；When CE is on the left of CP and when Δ x < 0, using small arc-shaped path tracking algorithm；When CE is on the left of CP and when Δ x > 0, use
Orthodrome path tracking algorithm；When course deviation be equal to ideal line corrected course angle when, steering wheel return just, by current course angle
Traveling.
In conjunction with shown in attached drawing 1A, 1B, Fig. 3, although vehicle, which can reach first along circular arc C P traveling, takes aim at point P point in advance, in P
Point near course deviation it is too big, cause lateral deviation to increase by necessarily occurring overregulating after P point, thus must P point it
What preceding course deviation just started after P point in advance when also less big second takes aim at point P ' in advance, and be gradually deviated from circular arc C P and to second
Point P ' traveling is taken aim in advance.Therefore, small arc-shaped path tracking algorithm is realized and is corrected by following steps:
(1) each control period is 1 outer circulation large period, and 1 outer circulation large period includes multiple interior circulation minor cycles,
Interior cycle-index default setting is 4, and can be adjusted according to actual needs；
(2) first group of navigation positioning data is obtained in new outer loop cycles, determines that first takes aim at point P point coordinate in advance, is counted
Center of circle radius corresponding to small arc-shaped is calculated, and is scaled front-wheel expectation corner；
(3) front-wheel expectation corner control vehicle front-wheel steer is pressed, vehicle starts to travel along CP circular arc course line；
(4) inside circulation the minor cycle 1. in monitor vehicle course deviation Δ θ and lateral deviation Δ x, if Δ θ * Δ x > 0,
Then continue to travel along CP circular arc course line, while judging vehicle location in the inside of CP circular arc or outside, and according to judging result
Adjustment correction vehicle actual path by a small margin is carried out to front-wheel steer；If Δ θ * Δ x≤0, enter the interior circulation minor cycle 2.；
(5) inside the circulation minor cycle 2. in, will take aim in advance a little by P point be changed to it is next it is pre- take aim at point P ', and judge that vehicle navigates in real time
To CE and new ideal line corrected course CP ' relationship and lateral deviation Δ x it is positive and negative, if CE on the left of the CP ' and Δ x <
0 or CE then continues to travel along CP circular arc course in the right side CP ' and Δ x > 0；If CE is on the left of CP ' and Δ x > 0 or CE exist
3. on the right side of CP ' and Δ x < 0, then enter the interior circulation minor cycle；
(6) the circulation minor cycle is 3. interior inside, and just, vehicle is travelled according to new ideal line course CP ' for circulation before controlling, and
Its actual path is adjusted by a small margin according to the relative positional relationship of vehicle real time position and CP '；
(7) above step (4)~(6) are repeated, until outer circulation large period terminates.
In conjunction with shown in Fig. 2A, 2B, Fig. 4, is taken aim at point P point due to orthodrome track first and deviateed not with planning path in advance
Greatly, without being corrected again, orthodrome path tracking algorithm is realized by following steps:
(1) each control period is 1 outer circulation, and 1 outer circulation large period includes multiple interior circulation minor cycles, interior circulation
Number default setting is 4, and can be adjusted according to actual needs；
(2) first group of navigation positioning data is obtained in new outer circulation large period, determines that first takes aim at point P point coordinate in advance,
Center of circle radius corresponding to orthodrome is calculated, and is scaled front-wheel expectation corner；
(3) front-wheel expectation corner control vehicle front-wheel steer is pressed, vehicle starts to travel along CP circular arc course line；
(4) inside circulation the minor cycle 1. in monitor vehicle course deviation Δ θ and lateral deviation Δ x, if Δ θ * Δ x < 0,
Then continue to travel along CP circular arc course line, while judging vehicle location in the inside of CP circular arc or outside, and according to judging result
Adjustment correction vehicle actual path by a small margin is carried out to front-wheel steer；If Δ θ * Δ x >=0, enter the interior circulation minor cycle 2.；
(5) the circulation minor cycle is 2. interior inside, and circulation just, directly is continued to travel by 0 ° of course angle before controlling vehicle, and according to
Vehicle real time position carries out fine tune to its actual path；
(6) above step (4)~(5) are repeated, until outer circulation large period terminates.
Described pre- take aim at determines a method are as follows: forward sight distance can be for preset value or by considering car speed and planning road
The Dynamic calculation method of diameter camber obtains, and the point nearest from current vehicle position is searched in planning path, with this as the starting point to
Preceding interception forward sight distance obtains first and takes aim at point P in advance, and 2 times of forward sight distances of interception obtain second and take aim at point P ' in advance forward；Forward sight distance is pre-
If value is calculated by formula L=T*V, wherein L is forward sight distance, and T is the control outer circulation large period time, and V is vehicle driving speed
Degree；Forward sight is L=L apart from Dynamic calculation methodp+k1V+k2Ω, wherein LpFor the radix of forward sight distance, k1For velocity coeffficient, number
Value is positive, k2For camber coefficient, numerical value is negative, and Ω is vehicle planning path camber.
Above-mentioned specific embodiment is used to illustrate the present invention, rather than limits the invention, of the invention
In spirit and scope of protection of the claims, to any modifications and changes that the present invention makes, protection model of the invention is both fallen within
It encloses.
Claims (5)
1. a kind of improved pure tracing control method for surface car path trace, which is characterized in that this method is according to vehicle
The navigational parameter that navigation system provides, judges the relationship between the real-time course angle of vehicle and ideal line corrected course angle, and
In conjunction with the positive and negative of lateral deviation, selection uses small arc-shaped path tracking algorithm or orthodrome path tracking algorithm: being appointed with field
Two vertical boundaries of meaning are x and y-axis, establish field plane coordinate system xoy, vehicle present bit by origin o of two boundary intersections
It is set to C (xc,yc), desired locations C ' (xc’,yc'), first in advance take aim at a little be P (xp,yp), second in advance take aim at a little be P ' (xp’,yp’),
C ' P is planning path, and being directed toward P from C ' is planning path positive direction, and the abscissa difference of current location C and desired locations C ' is cross
To deviation delta x, Δ x is negative value when current location C is to the left compared to desired locations C ', and current vehicle position C is compared to desired position
Set C ' it is to the right when Δ x be positive value；Line segment CP is the ideal line corrected course of track of vehicle, and positive direction is directed toward P from C, and CP is square
To being ideal line corrected course angle with planning path C ' P positive direction angle, CP positive direction is to the left relative to C ' P positive direction
When ideal line corrected course angle be negative value, when to the right ideal line corrected course angle be positive value；The real-time course of vehicle is CE, just
E is directed toward from C in direction, CE positive direction and planning path C ' P positive direction angle be course deviation Δ θ, CE positive direction relative to
Δ θ is negative value when C ' P positive direction is to the left, and Δ θ is positive value when to the right；Circular arc C P is camber line correcting route；In field plane coordinates
It is in xoy, current vehicle position is C (xc,yc), desired locations C ' (xc’,yc'), take aim at point in advance and be set to P ' (xp,yp), laterally
Deviation is Δ x, course deviation is Δ θ, line segment CP is track of vehicle ideal line corrected course, circular arc C P are camber line correction boat
It is the real-time course of vehicle to, line segment CE；
When vehicle course deviation Δ θ is greater than ideal line corrected course angle (i.e. CE is on the right side of CP) and lateral deviation Δ x for positive value
When, using small arc-shaped path tracking algorithm；
When vehicle course deviation Δ θ is greater than ideal line corrected course angle (i.e. CE is on the right side of CP) and lateral deviation Δ x for negative value
When, using orthodrome path tracking algorithm；
When vehicle course deviation Δ θ is less than ideal line corrected course angle (i.e. CE is on the left of CP) and lateral deviation Δ x for negative value
When, using small arc-shaped path tracking algorithm；
When vehicle course deviation Δ θ is less than ideal line corrected course angle (i.e. CE is on the left of CP) and lateral deviation Δ x for positive value
When, using orthodrome path tracking algorithm；
When vehicle course deviation Δ θ is equal to ideal line corrected course angle, steering wheel return just, is travelled by current course angle.
2. the improved pure tracing control method for surface car path trace according to claim 1, feature exist
In the small arc-shaped path tracking algorithm is realized and corrected by following steps:
Step 1) each control period is 1 outer circulation large period, 1 outer circulation large period includes multiple interior circulation minor cycles,
Interior cycle-index default setting is 4, and can be adjusted according to actual needs；
Step 2) first group of navigation positioning data is obtained in new outer loop cycles, it determines that first takes aim at point P point coordinate in advance, counts
Center of circle radius corresponding to small arc-shaped is calculated, and is scaled front-wheel expectation corner；
Step 3) front-wheel expectation corner control vehicle front-wheel steer is pressed, vehicle starts to travel along CP circular arc course line；
Step 4) inside circulation the minor cycle 1. in monitor vehicle course deviation Δ θ and lateral deviation Δ x, if Δ θ * Δ x > 0,
Then continue to travel along CP circular arc course line, while judging vehicle location in the inside of CP circular arc or outside, and according to judging result
Adjustment correction vehicle actual path by a small margin is carried out to front-wheel steer；If Δ θ * Δ x≤0, enter the interior circulation minor cycle 2.；
Step 5) inside the circulation minor cycle 2. in, will take aim in advance point by first it is pre- take aim at point P point and be changed to second take aim at point P ' point in advance, and sentence
The relationship of the disconnected real-time course CE of vehicle and new ideal line corrected course CP ' and lateral deviation Δ x's is positive and negative, if CE exists
On the left of CP ' and Δ x<0 or CE then continue to travel along CP circular arc course in the right side CP ' and Δ x>0；If CE on the left of the CP ' and
3. Δ x>0 or CE then enter the interior circulation minor cycle in the right side CP ' and Δ x<0；；
Step 6) inside the circulation minor cycle 3. in, just, vehicle is travelled according to new ideal line course CP ' for circulation before controlling, and
Its actual path is adjusted by a small margin according to the relative positional relationship of vehicle real time position and CP '；
Step 7) repeat above step four)~step 6), until outer circulation large period terminates.
3. the improved pure tracing control method for surface car path trace according to claim 1, feature exist
In the orthodrome path tracking algorithm is realized by following steps:
Step 1) each control period is 1 outer circulation, 1 outer circulation large period includes multiple interior circulation minor cycles, interior circulation
Number default setting is 4, and can be adjusted according to actual needs；
Step 2) first group of navigation positioning data is obtained in new outer circulation large period, it determines that first takes aim at point P in advance, calculates big
Center of circle radius corresponding to circular arc, and it is scaled front-wheel expectation corner；
Step 3) front-wheel expectation corner control vehicle front-wheel steer is pressed, vehicle starts to travel along CP circular arc course line；
Step 4) inside circulation the minor cycle 1. in monitor vehicle course deviation Δ θ and lateral deviation Δ x, if Δ θ * Δ x < 0,
Then continue to travel along CP circular arc course line, while judging vehicle location in the inside of CP circular arc or outside, and according to judging result
Adjustment correction vehicle actual path by a small margin is carried out to front-wheel steer；If Δ θ * Δ x >=0, enter the interior circulation minor cycle 2.；
Step 5) inside circulation the minor cycle 2. in, control vehicle before circulation just, directly continue to travel by 0 ° of course angle, and according to
Vehicle real time position carries out fine tune to its actual path；
Step 6) repeat above step four)~step 5), until outer circulation large period terminates.
4. according to the described in any item improved pure tracing control methods for surface car path trace of claim 2-3,
It is characterized in that, taking aim at the method for determination in advance are as follows: first determine forward sight distance, after searched for from current vehicle position most in planning path
Close point is intercepted forward forward sight distance using this nearest point as starting point and obtains first and take aim at point P in advance, intercepts twice of forward sight distance forward
It obtains second and takes aim at point P ' in advance.
5. the improved pure tracing control method for surface car path trace according to claim 4, feature exist
In forward sight distance can be preset value, can also be obtained by considering the Dynamic calculation method of car speed and planning path camber
?.
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| CN110955245A (en) * | 2019-12-09 | 2020-04-03 | 深圳市银星智能科技股份有限公司 | Path tracking method and device, mobile robot and non-transitory computer readable storage medium |
| CN112527000A (en) * | 2020-12-23 | 2021-03-19 | 中南大学 | Local path planning method and system for mine underground intelligent driving |
| CN112540617A (en) * | 2020-12-16 | 2021-03-23 | 天奇自动化工程股份有限公司 | Navigation deviation rectifying method for mobile platform |
| CN112678726A (en) * | 2020-12-18 | 2021-04-20 | 江苏智库智能科技有限公司 | Forklift AGV kinematics model-based goods taking positioning method and system |
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| CN113741463B (en) * | 2021-09-07 | 2023-11-10 | 北京理工大学 | Fixed-point and directional parking control method and system for unmanned ground maneuvering platform |
| CN114093164A (en) * | 2021-11-15 | 2022-02-25 | 上海市城乡建设和交通发展研究院 | Dynamic traffic flow identification and correction method, device and equipment based on vehicle track |
| CN114093164B (en) * | 2021-11-15 | 2022-08-19 | 上海市城乡建设和交通发展研究院 | Dynamic traffic flow identification and correction method, device and equipment based on vehicle track |
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