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

作　　者：Xin-wei Wang Hai-jun Peng Jie Liu Xian-zhou Dong Xu-dong Zhao Chen Lu 

机构地区：[1]Department of Engineering Mechanics,State Key Laboratory of Structural Analysis for Industrial Equipment,Dalian University of Technology,Dalian,Liaoning,116024,China [2]Faculty of Electronic Information and Electrical Engineering,Dalian University of Technology,Dalian,Liaoning,116024,China [3]War Research Institute,Academy of Military Sciences,Beijing,100850,China [4]School of Reliability and Systems Engineering,Beihang University,Xueyuan Road,Haidian District,Beijing,100191,China

出　　处：《Defence Technology（防务技术）》2022年第2期238-248,共11页Defence Technology

摘　　要：Coordinated taxiing planning for multiple aircraft on flight deck is of vital importance which can dramatically improve the dispatching efficiency.In this paper,first,the coordinated taxiing path planning problem is transformed into a centralized optimal control problem where collision-free conditions and mechanical limits are considered.Since the formulated optimal control problem is of large state space and highly nonlinear,an efficient hierarchical initialization technique based on the Dubins-curve method is proposed.Then,a model predictive controller is designed to track the obtained reference trajectory in the presence of initial state error and external disturbances.Numerical experiments demonstrate that the proposed“offline planningþonline tracking”framework can achieve efficient and robust coordinated taxiing planning and tracking even in the presence of initial state error and continuous external disturbances.

关 键 词：Carrier aircraft Coordinated path planning Centralized optimal control Trajectory tracking Model predictive control 

分 类 号：V271.492[航空宇航科学与技术—飞行器设计]