Research On Path Planning And Trajectory Tracking Of Carrier Aircraft Tractor

Since the beginning of the 21 st century,the strength of China’s navy has been booming.After the first aircraft carrier Liaoning,China’s first self-built domestic aircraft carrier,the Shandong ship has also officially entered the line.Marine armament facilities are constantly being developed and updated.As the main combat equipment of China ’s aircraft carriers,carrier-based aircraft is an important weapon for maintaining its superiority in the sea battlefield.The efficiency and safety of carrier-based aircraft ’s attendance,recovery and storage are measures of carrier combat effectiveness And an important indicator of comprehensive combat capability.With the increasing number of aircraft carrier aircraft,its shutdown system has attracted more and more attention.The shutdown of the aircraft carrier deck is a complicated operation.It refers to that the pilot drives the front tractor and drives the rear rodless towed carrier aircraft into the expected parking position by reversing.Due to human factors,this manual carrier-based aircraft storage method is slow and has low accuracy.The traditional manual driving mode has been difficult to meet the requirements of aircraft carriers for the speed of carrier-based aircraft storage,which has seriously affected the attendance efficiency of carrier-based aircraft and has become the primary obstacle to the development of maritime aviation.How to plan and control the traction and storage operations of aircraft carrier carrier aircraft in a planned,scientific,and modern manner,and to improve the level of automation and intelligence is an urgent task before us.This thesis takes the traction vehicle of the carrier aircraft as the research object,mainly to study its kinematics model,path planning and trajectory tracking technology.Firstly,the kinematics modeling is carried out through the parameters of the tractor and the carrier aircraft,the trajectory of the tractor and the carrier aircraft is analyzed,and the path planning is carried out with the ant colony algorithm.For the more difficult two-segment segmented vehicle reversing problem,this paper improves the LOS reversing tracking algorithm,controls the tractor to follow the target path,and finally drives the carrier-based aircraft to avoid obstacles and successfully reversing into the expected location.And use Python language to design independent visual aircraft carrier simulation software,through the GUI program for algorithm simulation,at the same time provide users with detailed carrier-based aircraft storage visualization visualization.In Chapter 5,a more detailed physical simulation of the scale-down model is carried out on the carrier-based aircraft.The simulation experiment is based on the size of the local area of the aircraft carrier deck.In the actual experimental site,a UWB positioning module is used to simulate a rectangular area.By building an inspection system composed of an electronic compass and an angle encoder,real-time vehicle data is measured.Design a single-chip wireless control system,control the tractor to push the physical model of the carrier aircraft connected at the rear,automatically follow the obstacle avoidance trajectory planned by the algorithm,and finally successfully reverse the carrier aircraft into the target position.Finally,according to the movement path monitored by the deck simulation software interface,it can be obtained that the tractor has a more accurate path tracking capability during the reverse movement,which verifies the effectiveness,speed and stability of the algorithm.