Multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking
A trajectory planning and control method technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control and other directions, can solve the problem of difficulty in taking into account calculation efficiency and accuracy, difficult to strictly meet terminal constraints, and ineffective Application of multi-carrier aircraft cooperative trajectory planning and control to achieve the effect of improving computational efficiency and robustness
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[0063] The present invention will be further described below in conjunction with specific examples.
[0064] Take the coordinated trajectory planning and control of a system consisting of 5 aircraft as an example, in which 2 taxiing aircraft (Type 0 in Table 1) and 3 of them are towed by rod tractors (Type 1 in Table 1), specifically See the table below for the parameters.
[0065] Table 1.5 Initial and terminal attitudes of the aircraft
[0066]
[0067] Both the rod-towing aircraft system and the taxiing aircraft system are described as circular, and the radius of the rod-towing aircraft system is 12m (including the safety buffer zone R safe = 1m), the radius of the taxiing aircraft system is 10m (including the safety buffer zone R safe = 1m). The geometric parameters of the system are: L 1 =6m,L 2 = 4m, L 3 = 2m, M = 1m. There are two obstacles (O1 and O2) in the environment. The geometric center of O1 is (74m, 6.5m), and the geometric center of O2 is (135m, 6.5m)...
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