Cooperative trajectory planning for mother/child aircrafts in aerial recovery
Cooperative trajectory planning for mother/child aircrafts in aerial recovery
- New search for: Liu, Yongbei
- New search for: Qi, Naiming
- New search for: Tang, Mengying
- New search for: Yao, Weiran
- New search for: Zhao, Jun
- New search for: Liu, Yongbei
- New search for: Qi, Naiming
- New search for: Tang, Mengying
- New search for: Yao, Weiran
- New search for: Zhao, Jun
Aerial recovery technology for aircrafts plays a significant role in practical applications, which presents a challenging problem in cooperative trajectory planning. To solve the problem, a hierarchical trajectory planning architecture is proposed in this paper. Firstly, the waypoints of the mother aircraft trajectory are obtained based on the distribution of the child aircrafts by using a hierarchical clustering algorithm. A greedy algorithm is used to obtain the traverse sequence for the waypoints and the mother aircraft trajectory is generated based on the Dubins path. Secondly, a genetic algorithm is employed to optimize the recovery position and recovery time for each child aircraft. Lastly, the trajectory of each child aircraft is generated by using a double-stage trajectory generation method. Simulation results validate the effectiveness of the proposed method for cooperative trajectory planning in aerial recovery.
Document information
Cooperative trajectory planning for mother/child aircrafts in aerial recovery
2020-11-27
530223 byte
Conference paper
Electronic Resource
English
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