改进的智能飞机牵引车路径导航纯追踪算法
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摘要
为了提高飞机地面自动牵引滑行导航控制系统的精度,提出一种改进的纯追踪算法。基于纯追踪算法对飞机牵引车系统的路径进行跟踪控制,将简化的两轮模型作为其运动学模型。融合经典纯追踪算法及改进算法确定新的预测目标点,以减少轨迹误差。采用偏差统计的方法实现不同预测距离下最优融合系数的选择,提高控制精度。仿真结果表明,该算法的路径轨迹误差控制在0.5 m范围内,满足飞机自动牵引滑行的精度要求,验证了其可行性和有效性。
In order to improve the accuracy of the aircraft automatic tractor navigation control system,an improved pure pursuit algorithm is proposed.Based on the pure pursuit algorithm,the path control of the aircraft tractor system is carried out,and the simplified two-wheel model is taken as its kinematics model.The classical pure pursuit algorithm and its improved algorithm are merged to determine the new predictive target points,which can reduce the trajectory control error.Optimal fusion coefficients selection under different prediction distances is achieved by means of deviation statistics to improve control accuracy.Simulation results show that the path trajectory error of the proposed algorithms is controlled within 0.5 m,which can meet the accuracy requirements of aircraft automatic traction taxiing,and verify its feasibility and effectiveness.
In order to improve the accuracy of the aircraft automatic tractor navigation control system,an improved pure pursuit algorithm is proposed.Based on the pure pursuit algorithm,the path control of the aircraft tractor system is carried out,and the simplified two-wheel model is taken as its kinematics model.The classical pure pursuit algorithm and its improved algorithm are merged to determine the new predictive target points,which can reduce the trajectory control error.Optimal fusion coefficients selection under different prediction distances is achieved by means of deviation statistics to improve control accuracy.Simulation results show that the path trajectory error of the proposed algorithms is controlled within 0.5 m,which can meet the accuracy requirements of aircraft automatic traction taxiing,and verify its feasibility and effectiveness.
引文
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[3] SAMOLEJ S,ORKISZ M,ROGALSKI T.The airspeed automatic control algorithm for small aircraft[J].Advanced Technologies in Practical Applications for National Security,2017,106(9):157-168.
[4] LUCKNER R,DALLDORFF L,REICHEL R.A utility aircraft for remote sensing missions with a high-precision automatic flight control system[C]//Proceedings of 2014 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology.Washington D.C.,USA:IEEE Press,2014:1-11.
[5] PIYATHILAKA L,MUNASINGHE R.Vision-only outdoor localization of two-wheel tractor for autonomous operation in agricultural fields[C]//Proceedings of the 6th International Conference on Industrial and Information Systems.Washington D.C.,USA:IEEE Press,2011:358-363.
[6] GUO Rui,ZHANG Yu,WANG Qing.Comparison of emerging ground propulsion systems for electrified aircraft taxi operations[J].Transportation Research Part C:Emerging Technologies,2014,44:98-109.
[7] ZAMMIT C,ZAMMIT-MANGION D.A control technique for automatic taxi in fixed wing aircraft[C]//Proceedings of the 52nd Aerospace Sciences Meeting.Reston,USA:American Institute of Aeronautics and Astronautics,2014:1-9.
[8] DAVID C,CARLOS S.Path-following control for coordinated turn aircraft maneuvers[C]//Proceedings of AIAA Guidance,Navigation and Control Conference and Exhibit.Reston,USA:American Institute of Aeronautics and Astronautics,2007:1-19.
[9] MEMON K R,MEMON S,MEMON B,et al.Real time implementation of path planning algorithm with obstacle avoidance for autonomous vehicle[C]//Proceedings of International Conference on Computing for Sustainable Global Development.Washington D.C.,USA:IEEE Press,2016:2048-2053.
[10] 孙怀江,杨静宇.关于纯追踪模型的讨论[J].计算机学报,2002,25(12):1445-1449.
[11] 黄沛琛,罗锡文,张智刚.改进纯追踪模型的农业机械地头转向控制方法[J].计算机工程与应用,2010,46(21):216-219.
[12] WALLACE R,STENTZ A,THORPE C E,et al.First results in robot road-following[C]//Proceedings of International Joint Conference on Artificial Intelligence.San Francisco,USA:Margan Kaufmann,1985:1089-1095.
[13] COULTER R C.Implementation of the pure pursuit path tracking algorithm:CMU-RI-TR-92-01[R].Pittsburgh,USA:Robotics Institute,Carnegie Mellon University,1992.
[14] SNIDER J M.Automatic steering methods for autonomous automobile path tracking:CMU-RI-TR-09-08[R].Pittsburgh,USA:Robotics Institute,Carnegie Mellon University,2009.
[15] 唐小涛,陶建峰,李志腾,等.自动导航插秧机路径跟踪系统稳定性模糊控制优化方法[J].农业机械学报,2018,49(1):29-34.
[16] PARK M W,LEE S W,HAN W Y.Development of lateral control system for autonomous vehicle based on adaptive pure pursuit algorithm[C]//Proceedings of International Conference on Control,Automation and Systems.Washington D.C.,USA:IEEE Press,2014:1443-1447.