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舰载机甲板调运过程避碰路径规划研究

DOI: 10.3969/j.issn.1006-7043.201304025

Keywords: 舰载机, 甲板调运, 避碰路径规划, 复杂形状, 行为动力学

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Abstract:

针对舰载机甲板调运过程,提出了一种适用于复杂形状目标的局部避碰路径规划方法。引入线段集对舰载机形状进行描述,针对舰载机外轮廓特点建立了目标的凸构型描述形式,并提出目标间碰撞检测及距离计算方法,在此基础上采用行为动力学方法实现目标的局部避碰路径规划。为提高算法在复杂环境下的避碰能力,分别提出基于广义符号阈值函数避障行为策略和奔向目标行为策略的改进方法,同时通过解耦航向角和速度动力学使得路径规划算法更适用于舰载机甲板调运过程多种任务模式的需求。仿真结果表明,本文提出的改进行为动力学策略能够克服路径规划过程中的局部极小问题,实现了复杂形状目标的避碰路径规划,为舰载机甲板调运过程中任务作业的可实施性提供保障。

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