Multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking

Abstract

The invention discloses a multi-ship-borne isomer ship surface collaborative trajectory planning and control method based on isomorphism-tracking, and belongs to the technical field of ship surface collaborative planning and control. The method comprises the following steps: firstly, simplifying a rod traction aircraft system into a virtual aircraft system, simplifying a heterogeneous system into an isomorphic system formed by a virtual/taxiing aircraft system, and establishing an optimal control model for multi-isomorphic collaborative trajectory planning; then, solving the model by adopting an optimal control algorithm to obtain standard optimal tracks and control quantities of each virtual aircraft system and each taxiing aircraft system; and finally, enabling each rod traction aircraft system to track the virtual aircraft system standard optimal trajectory constructed according to the rod traction aircraft system, establishing an optimal control model for trajectory tracking of the rod traction aircraft system, and adopting an optimal control algorithm to solve and obtain the trajectory and the control quantity of each rod traction aircraft system. According to the method, the problem of multi-ship-borne isomer collaborative trajectory planning and control can be effectively solved, and the calculation efficiency and robustness are improved.

Description

technical field [0001] The invention belongs to the technical field of ship-board cooperative planning and control of ship-borne heterogeneous systems, and in particular relates to a multi-ship-borne heterogeneous ship-surface collaborative trajectory planning and control method based on isomorphism-tracking. Background technique [0002] There are two modes of carrier-based aircraft deployment, that is, aircraft taxiing and towing, because these two transportation methods are often carried out at the same time, and the structure and control characteristics of the taxiing aircraft system and the towed aircraft system are quite different. Therefore, how to realize the effective coordination between the traction / taxiing aircraft systems with rods in the narrow deck space and complex operating environment, so as to ensure the coordination, safety and efficiency of each stage of operation, is the key issue to improve the recovery capability of the aircraft carrier. [0003] Most...

AI Technical Summary

Problems solved by technology

Although these methods can solve the collaborative trajectory planning problem, it is difficult to balance the computational efficiency and accuracy.

[0005] In addition, the deployment of carrier-based aircraft on the deck often requires the aircraft to arrive at the target position accurately at a predetermined angle, that is, the trajectory of the aircraft must strictly meet the terminal constraints, and most of the existing collaborative trajectory planning and control methods are difficult to strictly meet the terminal constraints. requirements, so it cannot be effectively applied to the problem of cooperative trajectory planning and control of multiple carrier-based aircraft

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