[1]张智,林圣琳,夏桂华,等.舰载机甲板调运过程避碰路径规划研究[J].哈尔滨工程大学学报,2014,(01):9-15.[doi:10.3969/j.issn.1006-7043.201304025]
 ZHANG Zhi,LIN Shenglin,XIA Guihua,et al.Collision avoidance path planning for an aircraft in scheduling process on deck[J].hebgcdxxb,2014,(01):9-15.[doi:10.3969/j.issn.1006-7043.201304025]
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舰载机甲板调运过程避碰路径规划研究(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2014年01期
页码:
9-15
栏目:
出版日期:
2014-01-25

文章信息/Info

Title:
Collision avoidance path planning for an aircraft in scheduling process on deck
文章编号:
1006-7043(2014)01-0009-07
作者:
张智 林圣琳 夏桂华 朱齐丹
哈尔滨工程大学 自动化学院,黑龙江 哈尔滨 150001
Author(s):
ZHANG ZhiLIN ShenglinXIA GuihuaZHU Qidan
College of Automation, Harbin Engineering University, Harbin 150001, China
关键词:
舰载机甲板调运避碰路径规划复杂形状行为动力学
分类号:
TP18;TP273
DOI:
10.3969/j.issn.1006-7043.201304025
文献标志码:
A
摘要:
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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备注/Memo

备注/Memo:
收稿日期:2013-04-08. 网络出版时间:2013-11-20 基金项目:国家自然科学基金资助项目(61104037,61304060);中央高校基金资助项目(HEUCF041307;HEUCFX41304);国家科技合作专项基金资助项目(2013DFR10030). 作者简介:张智(1981-), 男, 讲师, 硕士生导师. 通信作者:张智,E-mail:neverbadzz@163.com.
更新日期/Last Update: 2014-04-14