20
views
0
recommends
+1 Recommend
0 collections
    0
    shares
      • Record: found
      • Abstract: found
      • Article: found
      Is Open Access

      Aircraft Parking Trajectory Planning in Semistructured Environment Based on Kinodynamic Safety RRT\({}^{∗}\)

      1 , 1 , 1
      Mathematical Problems in Engineering
      Hindawi Limited

      Read this article at

      Bookmark
          There is no author summary for this article yet. Authors can add summaries to their articles on ScienceOpen to make them more accessible to a non-specialist audience.

          Abstract

          To improve the safety and effectiveness of autonomous towing aircraft aboard the carrier deck, this study proposes a velocity-restricted path planner algorithm named as kinodynamic safety optimal rapidly exploring random tree (KS-RRT ) to plan a near time-optimal path. First, a speed map is introduced to assign different maximum allowable velocity for the sampling points in the workspace, and the traverse time is calculated along the kinodynamic connection of two sampling points. Then the near time-optimal path in the tree-structured search map can be obtained by the rewiring procedures, instead of a distance-optimal path in the original RRT algorithm. In order to enhance the planner’s performance, goal biasing scheme and fast collision checking technique are adopted in the algorithm. Since the sampling-based methods are sensitive to their parameters, simulation experiments are first conducted to determine the optimal input settings for the specific problem. The effectiveness of the proposed algorithm is validated in several common aircraft parking scenarios. Comparing with standard RRT and human heuristic driving, KS-RRT demonstrates a higher success rate, as well as shorter computation and trajectory time. In conclusion, KS-RRT algorithm is suitable to generate a near time-optimal safe path for autonomous high density parking in semistructured environment.

          Related collections

          Most cited references22

          • Record: found
          • Abstract: not found
          • Article: not found

          Randomized Kinodynamic Planning

            Bookmark
            • Record: found
            • Abstract: not found
            • Article: not found

            Optimal paths for a car that goes both forwards and backwards

              Bookmark
              • Record: found
              • Abstract: not found
              • Conference Proceedings: not found

              Complexity of the mover's problem and generalizations

              John Reif (1979)
                Bookmark

                Author and article information

                Contributors
                Journal
                Mathematical Problems in Engineering
                Mathematical Problems in Engineering
                Hindawi Limited
                1563-5147
                1024-123X
                September 23 2021
                September 23 2021
                : 2021
                : 1-11
                Affiliations
                [1 ]College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
                Article
                10.1155/2021/3872248
                58b556a3-4ab7-4c65-b691-f7e0bfd82b81
                © 2021

                https://creativecommons.org/licenses/by/4.0/

                History

                Comments

                Comment on this article