飞行甲板多机滑行路径规划

Path Designing for Aircrafts' Taxiing on Flight Deck while Launching

与单机滑行相比,飞行甲板多机滑行建模仿真需要考虑运动舰载机之间的避障、计算效率等问题。建立多机滑行路径规划数学模型,包括舰载机简化模型、舰载机牵引系统运动模型以及目标函数等。设计基于A*的路径优化搜索算法,提出一种简捷办法来保证路径搜索的快速、成功,使舰载机机头对准弹射器跑道方向;启发函数既考虑舰载机以尽量短的距离到达对应弹射器,又兼顾其进入目标点方向的约束条件;碰撞检测不仅考虑单机路径规划中的约束条件,而且在节点扩展的每一步多次对备选路径进行碰撞检测。最后,用一个算例证明了所提出方法的有效性,能保证舰载机机队以合理的滑行路径安全高效地到达弹射起飞位。

Compared to stand-alone taxiing, modeling and simulation of multi-aircraft taxiing on the flight deck needs to consider the avoidance and computational cost. The mathematical model of the path planning of multi-aircraft taxiing was established, including a simplified model of the aircraft and its towing system, an objective function, etc. A path-optimized search algorithm based on A* and a simple method to ensure fast and successful path search, that is, letting the aircraft’s nose be aligned with the catapult runway, were proposed. A heuristic function was given with the demand that aircraft should reach the corresponding catapult as shortly as possible. Constrains of its entry into the target point were taken into account. Collision detection not only considered the constraints in single-path planning, but also detected the alternate paths multiple times at each step of the node expansion. Using an example to illustrate the effectiveness of the proposed method, it can ensure the entire aircraft team has a reasonable taxiing path before launch.