结合启发式与最优控制的舰载机甲板路径规划算法

doi:10.12305/j.issn.1001-506X.2023.04.18

Abstract

Abstract:

Carrier-based aircraft deck routing is a key step in the full-cycle dispatching and recovery operation of aircraft fleets. In order to improve the efficiency of carrier-based aircraft transfer, the optimal path satisfying the kinematic and terminal position constraints is obtained as the goal, and the heuristic and optimal control methods are combined to conduct the deck path planning research of carrier-based aircraft. Firstly, a convex hull obstacle expansion model is established for the complex deck layout environment. Secondly, a dynamic measurement factor is introduced into the A^* algorithm and the trajectory re-search algorithm is designed to solve the shortest path key point. Finally, the motion state of the key point is solved and combined with the optimal control algorithm to plan and integrate the segmented paths between the key points. The simulation experiments of path planning under typical deck environment are carried out to verify the superiority of the proposed algorithm by comparing with the simulation results of the optimal control algorithm. The simulation experimental results show that the proposed algorithm effectively solves the problem of initial value sensitivity of the optimal control algorithm in the complex obstacle environment, and effectively improves the optimization performance of the deck transfer.

Key words: carrier-based aircraft, flight deck, path planning, A^* algorithm, optimal control

CLC Number:

Wei HAN, Zixuan LIU, Xichao SU, Kaikai CUI, Jie LIU. Deck path planning algorithm of carrier-based aircraft based on heuristic and optimal control[J]. Systems Engineering and Electronics, 2023, 45(4): 1098-1110.

Figures/Tables 27

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算法名称	t/s	max (arctan(\|u₁\|))/(°)	u₂波动次数	v₂阶跃次数
最优控制算法	132	40	4	4
结合改进A^*算法与最优控制算法	121	22	2	2
优化结果	缩短8.3%	缩减45%且曲线平缓	波动次数减少	阶跃次数减少

算法名称	t/s	max (arctan(\|u₁\|))/(°)	u₂波动次数	v₂阶跃次数
最优控制算法	131	38	3	3
结合改进A^*算法与最优控制算法	130	37	3	3
优化结果	缩短0.8%	减小2.6%且曲线平缓	一致	一致

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Deck path planning algorithm of carrier-based aircraft based on heuristic and optimal control

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References 28

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障碍编号	参数
障碍编号	x_oi	y_oi	a_i+d	b_i+d
1	105	15	10	20
2	132	15	8	20
3	150	15	10	20
4	155	12	6	15
5	170	10	10	13