舰载机牵引系统路径规划方法

舰载机在任务繁忙和障碍密集的飞行甲板上运动，为了降低舰载机的能耗和增加发动机使用寿命，一般由牵引车牵引舰载机运动，舰载机和牵引车构成牵引系统。为了提高牵引系统出行任务的安全高效性，提出了一种甲板环境下的牵引系统路径规划方法。建立了路径规划的数学模型，该模型包括牵引系统运动学模型和机动能力约束，任务目标函数和任务约束模型，以及障碍物规避模型。结合上述模型，基于几何学理论和Dijkstra算法设计了最优路径的搜索方法。以尼米兹级航母飞行甲板为例，进行了牵引系统的路径规划和跟踪控制仿真，结果表明了模型的合理性和方法的有效性。 

Path planning method for traction system on carrier aircraft

A carrier aircraft moves on a carrier flight deck which has the characteristics of heavy workloads and multiple obstacles. In order to reduce energy consumption of the carrier aircraft and improve service life of the aircraft engine, the carrier aircraft is usually dragged by a tractor on the flight deck, and both of them form a traction system. In order to make the traction system can safely and efficiently complete travel missions, a method is proposed for path planning of the traction system on the flight deck. Mathematic models of path planning are established, which include kinematics models and maneuverability constraints of the traction system, a mission objective function and mission constraints models, and obstacle avoidance models. According to the above models, a method to search the optimal path is designed based on geometry theory and Dijkstra's algorithm. Taking a Nimitz class carrier as an example, a path of the traction system on the flight deck is planned and tracking control simulation is carried out. The simulation results verify the reasonability of the models and the effectiveness of the method.