Analysis of Aircraft Path Planning Optimal on Carrier Flight Deck

2013 ◽  
Vol 664 ◽  
pp. 1122-1127 ◽  
Author(s):  
Yao Yu Li ◽  
Yi Fan Zhu ◽  
Qun Li
Keyword(s):  
Optimal Control ◽  
Path Planning ◽  
Dynamic Model ◽  
Pseudospectral Method ◽  
Constraint Equation ◽  
Planning Method ◽  
Space Environment ◽  
Polar Coordinates ◽  
Simulation Results ◽  
Flight Deck

Since the limited space and complicated environment, we can't solve this problem by traditional path planning method which taking the aircraft as a particle. Aim at this problem, we introduce the pseudospectral method from the field of optimal control, and indicate the feasibility and advantage based on theory discussion. To simulate the actual path planning on flight deck, we build a carrier deck space environment, establish the collision detecting mechanism based on polar coordinates transforming. Finally an aircraft dynamic model and a simplified obstacle model are designed, thus the path planning constraint equation is given. The veracity and convergence of this method is verified by experiment simulation results.

Safe path planning for free-floating space robot to approach noncooperative spacecraft

2017 ◽  
Vol 232 (7) ◽  
pp. 1258-1271 ◽  
Author(s):  
Fuhai Zhang ◽  
Yili Fu ◽  
Shan Zhu ◽  
He Liu ◽  
Bin Guo ◽  
...  
Keyword(s):  
Path Planning ◽  
Orbital Plane ◽  
Planning Method ◽  
Space Robot ◽  
Autonomous Rendezvous ◽  
Simulation Results ◽  
Target Satellite ◽  
Safe Path

In order to eliminate plume impingement on the target satellite, a free-floating space robot (also known as a chaser), which has the advantage of executing on-orbit service, is always used. This paper develops a path planning method for a safe rendezvous of chaser with a noncooperative target satellite in orbital coordinates. Safety principles for rendezvous in terminal approaching phase are proposed. Grasp points on the target satellite are analyzed and classified into two categories, and a moving ellipse trajectory is adopted to approach a rotating and uncontrolled target satellite. This method guarantees that the chaser can successfully escape if unexpected error occurs or capture fails. The simulation results show that, with this novel autonomous rendezvous method, the chaser can approach the noncooperative target satellite along the designated trajectory in any quadrant of the orbital plane.

An optimal control-based path planning method for unmanned surface vehicles in complex environments

2022 ◽  
Vol 245 ◽  
pp. 110532
Author(s):  
Dongfang Ma ◽  
Shunfeng Hao ◽  
Weihao Ma ◽  
Huarong Zheng ◽  
Xiuli Xu
Keyword(s):  
Optimal Control ◽  
Path Planning ◽  
Planning Method ◽  
Complex Environments ◽  
Unmanned Surface Vehicles

Genetic Algorithm Based Aircraft Spotting Allocation Optimal Scheduling Approach on Carrier Flight Deck

2013 ◽  
Vol 373-375 ◽  
pp. 1196-1201
Author(s):  
Yao Yu Li ◽  
Zhi Fei Li ◽  
Yi Fan Zhu
Keyword(s):  
Genetic Algorithm ◽  
Pseudospectral Method ◽  
Optimal Scheduling ◽  
Genetic Method ◽  
Parking Spot ◽  
Simulation Results ◽  
Flight Deck

To improve the ability of aircraft sortie generation, we propose a genetic method to model the aircraft spotting allocation optimal problem, and transform it to a constrained optimal problem. Sortie path and time from parking spot to catapult are calculated by pseudospectral method, and then the genetic algorithm is given in detail. Finally, an aircraft sortie scenario is given to prove our method. Simulation results testify our method satisfies the requirement of scheduling optimal and can help commanders on flight deck to control aircraft spot allocation.

Path Planning for Vehicle with Constraint on Turning Radius among Obstacles

2010 ◽  
Vol 450 ◽  
pp. 128-132 ◽  
Author(s):  
Neng Jian Wang ◽  
De Fu Zhang ◽  
Li Jie Zhou
Keyword(s):  
Path Planning ◽  
State Space ◽  
Free Path ◽  
The State ◽  
Planning Method ◽  
Control Set ◽  
Simulation Results ◽  
Turning Radius ◽  
Feasible Path ◽  
Radius Constraint

A path re-planning method is proposed based on a discretization of the state space, aiming at finding a collision-free path for the vehicle which is capable of forward and backward motion when changes occur in the environment. A Control Set with Turning Radius Constraint (CSTRC) is formulated and the feasibility of paths in CSTRC is also proved out. The A* search is applied to produce a feasible path considering the distance and angle between the vehicle and the target pose. Path re-planning can be carried out efficiently when the environment changes. Simulation results demonstrate that the method realizes path re-planning effectively and the path satisfy the turning radius constraint.

Hurry Path Planning Based on Adaptive Genetic Algorithm

2013 ◽  
Vol 446-447 ◽  
pp. 1292-1297 ◽  
Author(s):  
Da Qiao Zhang ◽  
Jiu Fen Zhao ◽  
Gang Lei ◽  
Shun Hong Wang ◽  
Xiao Long Zheng
Keyword(s):  
Genetic Algorithm ◽  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Formation Flying ◽  
Planning Method ◽  
High Mode ◽  
Adaptive Genetic Algorithm ◽  
Aerial Vehicles ◽  
Simulation Results ◽  
Risk Cost

During formation flying, Unmanned Aerial Vehicles (UAV) may need to arrive at target ahead of schedule by hurry path. Given fixed flight high mode, hurry planning method was proposed based on Adaptive Genetic Algorithm (AGA), which makes the new path shorter by locally adjusting the default path. By full considering the risk of UAV flight, the hurry path got by AGA meets the requirements of the risk cost and time amount in advance. Simulation results show that the path gotten by AGA can better meet the requirements of the time amount in advance, and evade the threat area effectively too.

scholarly journals Planning Method of Offset Spray Path for Patch considering Boundary Factors

2018 ◽  
Vol 2018 ◽  
pp. 1-7
Author(s):  
Yakun Zhang ◽  
Chenhao Xu ◽  
Haining Xiao ◽  
Bo Zhou ◽  
Yong Zeng
Keyword(s):  
Path Planning ◽  
Coating Thickness ◽  
Boundary Curve ◽  
Planning Method ◽  
Equal Division ◽  
Spacing Distance ◽  
Allowable Range ◽  
Length Direction ◽  
Simulation Results ◽  
Patch Boundary

To solve the problem of paint waste at the boundary of the patch when spraying, a planning method of offset spray path considering boundary of the patch is developed. By analyzing the causes of excessive paint waste at the boundary of the patch, a spray path planning method based on boundary curve of the patch is proposed, and the distance between the spray path and the boundary of the patch is optimized to reduce excessive paint waste. According to the allowable range of the spray height and the error range of the coating thickness, the variable range of the spacing distance is established; on this basis, the equal division method of plane intercept line is used to generate the discrete points of the spray path in the length direction of the patch, and a connection algorithm of the discrete points is used to generate the spray path of the patch. The simulation results show that the method can automatically generate a spray path based on the shape of the patch boundary; under the premise of meeting the uniformity requirements of the coating thickness, paint waste can be effectively reduced during spraying.

scholarly journals Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Changan Jiang ◽  
Yuta Nakatomi ◽  
Satoshi Ueno
Keyword(s):  
Optimal Control ◽  
Dynamic Model ◽  
Nursing Care ◽  
Equations Of Motion ◽  
Viscoelastic Model ◽  
Normal Direction ◽  
Normal Forces ◽  
Robot Arms ◽  
Simulation Results ◽  
Optimal Regulator

Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver) stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

scholarly journals Optimal control based coordinated taxiing path planning and tracking for multiple carrier aircraft on flight deck

2020 ◽  
Author(s):  
Xin-wei Wang ◽  
Hai-jun Peng ◽  
Jie Liu ◽  
Xian-zhou Dong ◽  
Xu-dong Zhao ◽  
...  
Keyword(s):  
Optimal Control ◽  
Path Planning ◽  
Flight Deck

scholarly journals A Trajectory Planning Method for Autonomous Valet Parking via Solving an Optimal Control Problem

Sensors ◽  
2020 ◽  
Vol 20 (22) ◽  
pp. 6435
Author(s):  
Chen Chen ◽  
Bing Wu ◽  
Liang Xuan ◽  
Jian Chen ◽  
Tianxiang Wang ◽  
...  
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Trajectory Planning ◽  
Pseudospectral Method ◽  
Initial Guess ◽  
Planning Method ◽  
Planning Problem ◽  
Starting Position ◽  
Dynamic Obstacle Avoidance

In the last decade, research studies on parking planning mainly focused on path planning rather than trajectory planning. The results of trajectory planning are more instructive for a practical parking process. Therefore, this paper proposes a trajectory planning method in which the optimal autonomous valet parking (AVP) trajectory is obtained by solving an optimal control problem. Additionally, a vehicle kinematics model is established with the consideration of dynamic obstacle avoidance and terminal constraints. Then the parking trajectory planning problem is modeled as an optimal control problem, while the parking time and driving distance are set as the cost function. The homotopic method is used for the expansion of obstacle boundaries, and the Gauss pseudospectral method (GPM) is utilized to discretize this optimal control problem into a nonlinear programming (NLP) problem. In order to solve this NLP problem, sequential quadratic programming is applied. Considering that the GPM is insensitive to the initial guess, an online calculation method of vertical parking trajectory is proposed. In this approach, the offline vertical parking trajectory, which is calculated and stored in advance, is taken as the initial guess of the online calculation. The selection of an appropriate initial guess is based on the actual starting position of parking. A small parking lot is selected as the verification scenario of the AVP. In the validation of the algorithm, the parking trajectory planning is divided into two phases, which are simulated and analyzed. Simulation results show that the proposed algorithm is efficient in solving a parking trajectory planning problem. The online calculation time of the vertical parking trajectory is less than 2 s, which meets the real-time requirement.

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