Path planning optimum control method for deck of ship-based aircraft based on NSP algorithm

Abstract

The invention discloses a path planning optimum control method for a deck of a ship-based aircraft based on an NSP algorithm, and belongs to the technical field of automation and optimum control overship-based aircrafts. Based on analysis of deck path planning of the ship-based aircraft and optimum control over deck path planning, the problem of an original method is solved that path planning andcontrol cannot be combined, and the deficiency is overcome that an obtained path cannot easily meet terminal constraint, and in combination with motion constraint, barrier constraint, control variable and state variable constraint and terminal constraint of sliding of the ship-based aircraft, a path planning optimum control model of the deck of the ship-based aircraft is constructed; based on a Newton iteration method, a symplectic algorithm and a pseudo-spectral method, the NSP algorithm is provided for quickly solving the optimum control model, the problems exist in accurate path planning and control of the deck of the ship-based aircraft are effectively solved, the calculation efficiency and precision are improved, and the obtained path can strictly meet the terminal constraint. According to the path planning optimum control method, a reasonable solution can be provided for the problems existing in path planning and control of the deck of the ship-based aircraft.

Description

technical field [0001] The invention belongs to the technical field of carrier-based aircraft deck path planning, in particular to an optimal control method for carrier-based aircraft deck path planning based on NSP algorithm. Background technique [0002] The optimal control technology for path planning of carrier-based aircraft on the deck mainly includes scene modeling, path planning, and optimal control issues. When designing the optimal control method for path planning, it is necessary to take into account both real-time and accuracy. . [0003] At present, in the path planning of carrier-based aircraft deck, the commonly used methods mainly include: node-based search algorithm, potential field method, and optimal control method based on pseudo-spectral method. However, there are various deficiencies in each system, among which the main defects of the node-based search algorithm and the potential field method are: [0004] (1) During path planning, only the problem of...

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Problems solved by technology

[0004](1) During path planning, only the problem of how to avoid obstacles and the shortest distance is considered, and the problem of time-energy optimization is not considered;

[0005](2) The optimal control problem of path planning is not considered;

[0006](3) Insufficient consideration of the attitude information of the starting point and the ending point;

[0007](4) Generally, the conditions of nonholonomic motion constraints and control constraints are not considered;

[0008]The optimal control method based on the pseudospectral method mainly has low solution efficiency, low precision, and is prone to "dimension disaster" when there are many matching points Shortcomings

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