更新了论文

co/Cooperative Control of Vehicles and Aircraft Based on High-Fidelity Simulator/README_缂栬瘧璇存槑.txt

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+编译说明：
+1. 本工程面向 TeXstudio + TeX Live/LaTeX 2023 使用。
+2. 打开 hutbthesis_main.tex，使用 XeLaTeX 编译。建议连续编译 2 次，以生成/刷新目录和交叉引用。
+3. 本版本参考文献已整理为 content/references.tex 中的 thebibliography 手工参考文献环境，不需要运行 biber。
+4. 封面、承诺书、中英文摘要文件保持原样放在 content/ 目录；正文从 chapter1.tex 到 chapter5.tex。
+5. 图片统一放在 figures/ 目录。

co/Cooperative Control of Vehicles and Aircraft Based on High-Fidelity Simulator/cmdel.bat

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co/Cooperative Control of Vehicles and Aircraft Based on High-Fidelity Simulator/content/abstracten.tex

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+%!TEX root = ../csuthesis_main.tex
+\keywordsen{automatic towing vehicle \ \ aircraft docking \ \ ROS \ \ Gazebo \ \ path planning \ \ multi-sensor fusion \ \ co-simulation}
+\begin{abstracten}
+
+    With the development of intelligent airport ground operations, aircraft towing and docking tasks require higher levels of automation, accuracy, and safety. Traditional manual towing operations rely heavily on operator experience, and may be limited by efficiency and potential safety risks. Therefore, this thesis focuses on the automatic docking process between an airport towing vehicle and an aircraft, and establishes a ROS-Gazebo co-simulation system.
+    First, the airport towing operation scenario is abstracted, and a kinematic model of a dual-axle steering towing vehicle is established. The relationships among steering angle, vehicle speed, and trajectory curvature are analyzed. On this basis, an aircraft-assisted perception method and a relative pose error-based control strategy are designed. By using target identity confirmation, relative distance estimation, and attitude error calculation, the towing vehicle can realize autonomous approaching, attitude adjustment, and terminal stopping judgment. Then, the towing vehicle model, aircraft target, and airport operation environment are built in Gazebo. Under the ROS framework, vehicle control, sensor data acquisition, task mode switching, and system communication are implemented through ROS nodes.
+    The simulation results show that the proposed ROS-Gazebo co-simulation system can realize basic processes such as vehicle model loading, steering control, wheel speed control, target approaching, docking, pushback, and retreat. The feasibility of the proposed method in the airport automatic towing and docking scenario is verified. This study provides a reference for future prototype development, control algorithm optimization, and further research on intelligent airport ground operation systems.
+
+
+
+
+
+\end{abstracten}

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co/Cooperative Control of Vehicles and Aircraft Based on High-Fidelity Simulator/content/abstractzh.tex

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+%!TEX root = ../csuthesis_main.tex
+% 设置中文摘要
+\keywordscn{自动牵引车\quad 飞机对接\quad ROS\quad Gazebo\quad 路径规划\quad 联合仿真}
+%\categorycn{TP391}
+\begin{abstractzh}
+
+
+    随着机场地面运行智能化水平的提升，飞机牵引与对接作业对自动化、精确性和安全性提出了更高要求。针对传统人工牵引方式依赖经验、作业效率受限及安全风险较高等问题，本文以自动牵引车与飞机对接过程为研究对象，基于ROS与Gazebo平台构建联合仿真系统。
+    本文首先对机场牵引作业场景进行抽象，建立双桥转向牵引车运动学模型，并分析转向角、速度与轨迹曲率之间的约束关系。在此基础上，设计飞机辅助感知与相对位姿误差控制方法，通过目标身份确认、相对距离与姿态误差获取，实现牵引车的自动接近、姿态调整和停车判定。随后，基于Gazebo搭建牵引车、飞机目标和机场作业环境，并通过ROS节点完成车辆控制、传感器数据获取、任务模式切换和系统通信。
+    仿真结果表明，所构建的ROS-Gazebo联合仿真系统能够实现牵引车模型加载、转向控制、轮速控制、目标接近、对接、推出和撤离等基本流程，验证了所提方法在机场自动牵引对接场景中的可行性。本文研究可为后续真实样机开发、控制算法优化和多传感器融合研究提供一定参考
+
+
+
+
+\end{abstractzh}

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co/Cooperative Control of Vehicles and Aircraft Based on High-Fidelity Simulator/content/acknowledgements.tex

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+%!TEX root = ../hutbthesis_main.tex
+\begin{acknowledgements}
+
+这篇课题从开题到落地，离不开相关老师朋友以及家人的支持与帮助。
+
+首先，我想要感谢导师在论文选题、研究思路、系统设计和论文撰写过程中给予的耐心指导。从课题方向的确定，到ROS与Gazebo联合仿真方案的完善，再到论文结构、技术路线和文字表达的修改，老师都提出了许多宝贵意见，使我能够更加清晰地理解课题研究重点，并逐步完成毕业设计任务；同时，在改进的过程中又学到了新的设计理念。
+
+其次，感谢实习单位相关部门前辈给出的经验，是他们及时的经验分享让我在设计方案上少走了很多弯路。
+
+同时，我还要感谢家人在整个课题周期所给予的情绪理解与资金支持，感谢朋友给予的设备支持。没有他们的帮助我无法在短时间完成第一辆实体车辆的硬件测试。
+
+最后，我还想留一份给自己。作为一项早已躺在桌面的``新建文件夹''，这个论文的完成标志着整个项目的突破进展。我也要感谢那个三年来不曾放弃这个想法的自己。
+
+总之，通过本次毕业设计，我对机器人系统建模、ROS仿真平台、车辆运动控制以及工程项目实施流程有了更深入的认识，也进一步提高了独立分析问题和解决问题的能力。今后我将继续保持严谨踏实的学习态度，在相关专业方向上不断积累和提升。
+
+\end{acknowledgements}

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