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.
引文
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