Abstract:

For dealing with dispatching of the carrier aircraft tractor system on deck, a path planning method applicable to the objective of irregular shape in a complex environment with obstacles is described. Considering the features of the carrier-based aircraft outline whose convex polygon description is given, the involved collision detection and distance calculation are performed. A trajectory tracking control algorithm for carrier aircraft traction motion is then proposed, meanwhile collision avoidance path planning is realized through conventional behavior dynamics. In order to raise the collision avoidance ability in complicated environment, based on the generalized symbolic threshold function, the obstacle avoidance behavior strategy is improved. In the simulation, the path planning problems with respect to the carrier aircraft tractor system is effectively solved using the algorithm developed.