Research On Path Planning And Trajectory Tracking Of Tractor-carrier Aircraft System

As an extra-large surface ship,the aircraft carrier’s combat effectiveness is directly determined by the sortie generation rate(SGR).At the same time,the dispatching efficiency of carrier-based aircraft is closely related to the SGR.Due to the narrow space and complex environment,the quality of path planning and tracking will severely restrict the efficiency of dispatching.The tractor is an important tool for the movement of carrier-based aircraft,and it is needed in the ship surface and hangar.Research on the dispatching optimization of the tractor-carrier aircraft system has important implications for improving efficiency and ensuring the safety of pilots.This article mainly takes thetractor-aircraft system as the object and conducts an in-depth discussion on the path planning and trajectory tracking of it on deck.Firstly,this article summarizes the literature on carrier-based aircraft dispatching technology at home and abroad.Most of the literature focuses on the path planning and tracking of single carrier aircraft,and there is little research on tractor-aircraft system and the multi-aircraft cooperative movement.Then it analyzes the standard process of carrier-based aircraft in towing mode and explains the difference between it and the common carrier-based aircraft.Establish the kinematics and dynamics model of the rodless carrier aircraft traction system.Convex polygons are used to describe the contours of carrier aircraft and tractors,and collision detection schemes are proposed for integrity constraint and non-integrity constraint systems respectively.Secondly,based on the RRT algorithm,the target bias sampling strategy,distance measurement method,and system geometric constraints are introduced.Reeds-Shepp path is added to improve search efficiency and path smoothness.At the same time,the RRT~*algorithm and the hybrid A~* algorithm is implemented in the path planning of the single carrier aircraft traction system considering the condition of non-integrity constraints.Through the simulation results,the pros and cons of the above algorithms and the application environment of different algorithms are given.Thirdly,this paper proposes a two-layer closed-loop controller based on model predictive control(MPC)and adaptive fuzzy PID control to solve the trajectory tracking problem of the carrier tractor-aircraft system.The controller guarantees the dynamic stability of the system while considering various physical constraints.The comparative experiments with the feedback control algorithm and the LQR algorithm show that the proposed control algorithm is generally faster,more accurate,and more robust in tracking straight lines with initial errors,sinusoids with large curvatures,and complex deck trajectories.Finally,aiming at the scenario where multiple tasks are running at the same time during deck dispatch,a dynamic path planning algorithm for the multi-carrier aircraft traction systems is proposed.Based on the globally optimal path of the single-carrier aircraft traction system,a genetic algorithm-based global optimal dispatching path planning scheme for multi-carrier aircraft is designed.In order to coordinate collision avoidance during the movement,the RVO method is improved in terms of expansion method and optimal speed selection.The simulation results show that the algorithm can effectively avoid path crossing and vehicle collision,and the path is reasonable and smooth.