Title:
Collision-avoidance-path-planning
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- AI-NN-PR
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- Update:
- 2016-01-03
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Description: For dealing with dispatching of the carrier aircraft tractor system on deck,a path planning method applicable to the objective of irregular shape in a complex environment with obstacles is described.Considering the features of the carrier-based aircraft outline whose convex polygon description is given,the involved collision de-tection and distance calculation are performed.A trajectory tracking control algorithm for carrier aircraft trac-tion motion is then proposed,meanwhile collision avoidance path planning is realized through conventional be-havior dynamics.In order to raise the collision avoidance ability in complicated environment,based on the gener-alized symbolic threshold function,the obstacle avoidance behavior strategy is improved.In the simulation,the path planning problems with respect to the carrier aircraft tractor system is effectively solved using the algo-rithm developed.
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舰载机牵引系统甲板调运避碰路径规划.pdf
