Dynamic Path Planning Algorithm for Heterogeneous Groups in Aircraft Carrier Aviation Support Operations
The path planning task in aircraft carrier support operation has the problem of high dynamic scene and strong hetero-geneity of agents.Although the traditional global path planning algorithm can obtain the global optimal results,it can not adapt to the highly dynamic changing scene,and can not solve the security problem caused by the heterogeneity of agents.The current lo-cal path planning algorithm can well solve the problem agent size difference,but it is difficult to express heterogeneous group be-havior control uniformly.In order to solve the above problems,a dynamic path planning algorithm for heterogeneous groups in aircraft carrier aviation support operations is proposed.Firstly,the optimized global and local path planning algorithms are inte-grated to solve the highly dynamic problem of the aviation support operation scene.The path is adjusted in time according to the dynamic environment information,and the security problem caused by the highly dynamic scene to the heterogeneous agents are fully considered.Secondly,the method considers the different behavior characteristics of heterogeneous agents,and adopts the be-havior control model of heterogeneous agents based on kinematics characteristics in the process of local collision avoidance.Final-ly,taking the American Nimitz as an example,and the algorithm is evaluated in aspects of path length,smoothness,security,ob-stacle avoidance ability by using UE4 simulation experiments.Simulation results show that,compared with other path planning algorithms,the proposed algorithm can not only generate safe paths for heterogeneous groups on aircraft carrier deck,but also meet the application requirements of heterogeneous groups in dynamic aviation support operation scenarios.
A*algorithmPath planningHeterogeneous agentsGAMMA algorithmBehavior control
万方数据
维普
