多机移动条件下飞行甲板路径规划研究

Research on Flight Deck Path Planning Under the Condition of Multi-aircraft Moving

航母飞行甲板多机转运情况下,如何合理避碰并选择最优行走路径,是实现舰载机自动牵引的关键问题。该文章建立以最小化完成时间为目标的甲板路径规划模型,理清多机转运条件下甲板行走约束条件,采用多边形包围盒与行走路径中心线的距离测算方法实现碰撞检测,重点研究了以碰撞等待时间为主要因素的运动碰撞检测。采用离散粒子群算法求解该模型,计算结果合理,给出的最优路径符合实际要求。

How to avoid collision reasonably and choose the optimal path is the key problem to realize the automatic traction of carrier-based aircraft under the condition of multi-aircraft transfer on flight deck.This paper establishes a deck path planning mod⁃el with the goal of minimizing the completion time,and clarifies the constraints of deck walking under the conditions of multi-air⁃craft transfer.Collision detection is realized by the distance calculation method between the polygon bounding box and the center line of the walking path.The main factor of collision detection is the waiting time.The discrete particle swarm optimization algorithm is used to solve the model.The results are reasonable and the optimal path is in line with the practical requirements.