改进的智能飞机牵引车路径导航纯追踪算法

doi:10.19678/j.issn.1000-3428.0052939

计算机工程 ›› 2019, Vol. 45 ›› Issue (5): 267-271. doi: 10.19678/j.issn.1000-3428.0052939

改进的智能飞机牵引车路径导航纯追踪算法

张攀^1,2,柳阳¹,刘新杰¹,张威¹

1.中国民航大学航空工程学院,天津 300300; 2.天津大学机械工程学院,天津 300072

收稿日期:2018-10-19 出版日期:2019-05-15 发布日期:2019-05-15
作者简介:张攀(1984—),男,讲师、博士,主研方向为导航技术、智能机器人技术;柳阳、刘新杰,硕士研究生;张威(通信作者),教授、博士。
基金资助:
国家自然科学基金联合项目(U1533103);中央高校基本科研业务费专项资金(3122017025);天津市企业科技特派员项目(18JCTPJC68800)。

Improved pure pursuit algorithm for intelligent aircraft tractor path navigation

ZHANG Pan^1,2,LIU Yang¹,LIU Xinjie¹,ZHANG Wei¹

1.College of Aeronautical Engineering,Civil Aviation University of China,Tianjin 300300,China; 2.School of Mechanical Engineering,Tianjin University,Tianjin 300072,China

Received:2018-10-19 Online:2019-05-15 Published:2019-05-15

摘要/Abstract

摘要：

为了提高飞机地面自动牵引滑行导航控制系统的精度,提出一种改进的纯追踪算法。基于纯追踪算法对飞机牵引车系统的路径进行跟踪控制,将简化的两轮模型作为其运动学模型。融合经典纯追踪算法及改进算法确定新的预测目标点,以减少轨迹误差。采用偏差统计的方法实现不同预测距离下最优融合系数的选择,提高控制精度。仿真结果表明,该算法的路径轨迹误差控制在0.5 m范围内,满足飞机自动牵引滑行的精度要求,验证了其可行性和有效性。

关键词: 智能飞机牵引车, 自动控制, 路径导航, 纯追踪算法, 偏差统计

Abstract:

In order to improve the accuracy of the aircraft automatic tractor navigation control system,an improved pure pursuit algorithm is proposed.Based on the pure pursuit algorithm,the path control of the aircraft tractor system is carried out,and the simplified two-wheel model is taken as its kinematics model.The classical pure pursuit algorithm and its improved algorithm are merged to determine the new predictive target points,which can reduce the trajectory control error.Optimal fusion coefficients selection under different prediction distances is achieved by means of deviation statistics to improve control accuracy.Simulation results show that the path trajectory error of the proposed algorithms is controlled within 0.5 m,which can meet the accuracy requirements of aircraft automatic traction taxiing,and verify its feasibility and effectiveness.

Key words: intelligent aircraft tractor, automatic control, path navigation, pure pursuit algorithm, deviation statistics

中图分类号:

TP273

张攀,柳阳,刘新杰,张威. 改进的智能飞机牵引车路径导航纯追踪算法[J]. 计算机工程, 2019, 45(5): 267-271.

ZHANG Pan,LIU Yang,LIU Xinjie,ZHANG Wei. Improved pure pursuit algorithm for intelligent aircraft tractor path navigation[J]. Computer Engineering, 2019, 45(5): 267-271.

http://www.ecice06.com/CN/Y2019/V45/I5/267

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