摘要
针对牵引系统在舰面复杂环境下的转运过程,提出了一种适用于不规则形状目标的动态避碰方法。首先以凸构型的形式对不同状态下的舰载机外轮廓进行描述,推导了多目标间碰撞距离的计算过程。其次,对无杆牵引系统的运动学模型进行了分析,同时引入动态窗口算法实现牵引系统的避碰规划。为提高多机环境下的避碰能力,改进了算法的评价函数,设计了可动态分配的优先级策略。仿真结果表明,文中算法能够有效解决复杂环境下牵引系统舰面转运的动态避碰问题。
Dynamic collision avoidance method for irregularly shaped targets was proposed for the transport process of traction system in complex environment on the warship surface.The outline of carrier aircraft in different states was described in the form of convex configuration,and the calculation steps of collision distance between multiple targets were deduced.The kinematics model of the rodless traction system was analyzed,and the dynamic window algorithm was introduced to realize collision avoidance planning of the traction system.In order to improve the collision avoidance ability in multi-machine environment,the evaluation function of the algorithm was improved,and a priority strategy that can be dynamically assigned was designed.The simulation results show that the proposed algorithm can effectively solve the dynamic collision avoidance problem of carrier aircraft traction system in complex environment.
作者
朱兴动
韩啸华
范加利
王正
ZHU Xingdong;HAN Xiaohua;FAN Jiali;WANG Zheng(Navy Aviation University,Yantai 264001,China;Qingdao Campus of Navy Aviation University,Qingdao 266041,China)
出处
《兵器装备工程学报》
CSCD
北大核心
2021年第10期48-52,共5页
Journal of Ordnance Equipment Engineering
基金
军队科研基金项目。
关键词
舰载机
牵引系统
动态避碰
动态窗口
优先级策略
carrier aircraft
traction system
dynamic collision avoidance
dynamic window
priority strategy
