针对绕机巡检任务的无人车路径设计与仿真  

Unmanned vehicle path design and simulation for patrol tasks around aircraft

作　　者：周易 陆轶[2] 陈奇 徐一鸣[1] ZHOU Yi;LU Yi;CHEN Qi;XU Yiming(Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Guangzhou Civil Aviation College,Guangzhou 510403,China;China Academy of Civil Aviation Science and Technology,Beijing 100028,China)

机构地区：[1]南京航空航天大学,江苏南京210016 [2]广州民航职业技术学院,广东广州510403 [3]中国民航科学技术研究院,北京100028

出　　处：《无线互联科技》2025年第2期35-40,共6页Wireless Internet Science and Technology

基　　金：民航安全能力建设资金项目,项目名称:民用航空器结构多体智能检测方法研究与验证,项目编号:FSSA20230270;中国民航科学技术研究院基本科研业务费项目,项目名称:通用航空器撞线风险防控及调查关键技术研究。

摘　　要：为确保民航安全,民用飞机在制造及运行维护阶段均须频繁对飞机结构损伤进行视觉检查以排除事故隐患。为了解决当前飞机结构损伤人工目视检测方法效率低、安全性差、漏检率高等问题,文章提出了一种基于优化A*算法的无人车绕机巡检路径规划技术。该技术通过引入动态权重系数与B样条曲线,同时与B737机型的绕机巡检任务结合,实现巡检作业路径的高效稳定。仿真实验结果表明,无人车能够实现在复杂飞机结构周围的自主导航与高效巡检。To ensure the civil aviation safety,civil aircrafts require frequent visual inspections for structural damage during manufacturing and operational maintenance stages to eliminate potential accident hazards.To address the issues of low efficiency,poor safety,and high miss detection rates associated with the current manual visual inspection methods for aircraft structural damage detection,the article proposes an unmanned vehicle-based path planning technology for aircraft inspection using an optimized A*algorithm.This technology introduces dynamic weight coefficients and B-spline curves,and combines them with the inspection tasks of the B737 aircraft model to achieve efficient and stable inspection paths.Simulation experiment results demonstrate that the unmanned vehicle can achieve autonomous navigation and efficient inspection around complex aircraft structures.

关 键 词：路径规划 无人车 建模仿真 民航飞机 结构损伤检测技术 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]