基于CL-RRT与MPC的舰载机牵引系统路径规划

doi:10.12305/j.issn.1001-506X.2024.05.27

Abstract

Abstract:

The transport process of carrier aircraft is difficult because the environment of deck is narrow and complex. A path planning algorithm for the carrier aircraft traction system is proposed combining close loop rapidly exploring random trees (CL-RRT) and model predictive control (MPC). Firstly, the pure pursuit controller and linear quadratic (LQ) controller are used in CL-RRT to obtain the control input of the system, and the planned path is obtained by forward simulation. Secondly, the obtained path is scaled and interpolated as the initial solution of MPC. Finally, the objective function and so on of MPC is set and the final path is solved. The simulation experiment of three customized scenarios is carried out to verify the superiority of the proposed algorithm by comparing with the experimental results of CL-RRT algorithm. Experimental results show that the proposed algorithm can effectively solve the problem of poor solution quality caused by randomness of sampling, and improve the efficiency and safety of carrier aircraft on deck.

Key words: carrier aircraft traction system, close loop rapidly exploring random trees (CL-RRT), model predictive control (MPC), path planning

CLC Number:

Jiawei SUN, Minghui YU, Dapeng YANG, Haoquan TANG, Dapeng BIAN. Path planning of carrier aircraft traction system based on CL-RRT and MPC[J]. Systems Engineering and Electronics, 2024, 46(5): 1745-1755.

Figures/Tables 15

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算法名称	路线长度/m	扫掠面积/m²	最大输入角/(°)	输入角极差/(°)	输入角震荡次数
RRT*	148.63	1 842.45	-	-	-
CL-RRT	160.01	1 244.00	45	90	5
CLRRT+MPC	143.75	1 005.62	10.28	15.83	0
对比结果	减少10.2%	减少19.2%	减少77.2%	减少82.4%	更平稳

算法名称	路线长度/m	扫掠面积/m²	最大输入角/(°)	输入角极差/(°)	输入角震荡次数
RRT*	136.03	1 565.52	-	-	-
CL-RRT	197.75	1 372.16	45	90	6
CL-RRT+MPC	158.01	1 098.43	26.30	52.60	2
对比结果	减少20.1%	减少20.0%	减少41.6%	减少41.6%	平滑

算法名称	路线长度/m	扫掠面积/m²	最大输入角/(°)	输入角极差/(°)	输入角震荡次数
RRT*	186.85	1 769.20	-	-	-
CL-RRT	184.18	1 321.41	45	90	10
CL-RRT+MPC	177.63	1 218.48	14.02	21.28	1
对比结果	减少3.6%	减少7.8%	减少68.8%	减少76.4%	平滑

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Path planning of carrier aircraft traction system based on CL-RRT and MPC

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