舰载机甲板调运过程避碰路径规划研究

Collision avoidance path planning for an aircraft in scheduling process on deck

针对舰载机甲板调运过程,提出了一种适用于复杂形状目标的局部避碰路径规划方法。引入线段集对舰载机形状进行描述,针对舰载机外轮廓特点建立了目标的凸构型描述形式,并提出目标间碰撞检测及距离计算方法,在此基础上采用行为动力学方法实现目标的局部避碰路径规划。为提高算法在复杂环境下的避碰能力,分别提出基于广义符号阈值函数避障行为策略和奔向目标行为策略的改进方法,同时通过解耦航向角和速度动力学使得路径规划算法更适用于舰载机甲板调运过程多种任务模式的需求。仿真结果表明,本文提出的改进行为动力学策略能够克服路径规划过程中的局部极小问题,实现了复杂形状目标的避碰路径规划,为舰载机甲板调运过程中任务作业的可实施性提供保障。

For carrier-based aircraft scheduling on the carrier flight deck, a path planning method applied to an objective with complex shape was described. To realize local path planning through behavior dynamics, considering the characteristics of the aircraft outline, airplane＇s shape was specified in Line Segment and convex polygon description was given.In addition besides a method of collision detection and distance calculation was presented. For raising the collision avoidance ability of the algorithm proposed, the generalized symbolic threshold function was used and the behavior of moving to goal was improved. This algorithm was more suitable for the multi-task mode if the navigation angle and velocity dynamics were decoupled. Simulation results indicate that, by using the improved behavior dynamics developed, the local minimum problem in path planning is solved, the path planning of the complex shape objective is realized, and the maneuverability of assignments in the scheduling process can be assured.