Aircraft carrier deck path planning method based on dynamic partition adaptive potential field

Abstract

The invention relates to the technical field of aircraft carrier deck path planning, in particular to an aircraft carrier deck path planning method based on a dynamic partition self-adaptive potential field, which comprises the following steps: establishing a dynamic partition control strategy; collecting initialization environment information; establishing a heterogeneous unmanned equipment collision avoidance model, and introducing a field intensity adjustment operator to construct an adaptive dynamic situation field function; a non-conservative force field is established, and heterogeneous unmanned equipment is prevented from falling into a local minimum value; and generating path points of the whole deck ship surface based on the non-conservative site, judging whether the heterogeneous unmanned equipment reaches a target point or not, if not, repeating the previous step, and carrying out loop iteration until all path points are obtained. According to the method, a dynamic path planning task of the heterogeneous unmanned equipment in an aircraft carrier deck environment can be efficiently completed, optimal configuration of deck space resources is realized, safe obstacle avoidance and path optimization of the heterogeneous unmanned equipment in a complex environment are ensured, and finally efficient scheduling and safe operation of multi-equipment collaborative operation are achieved.

Description

Technical Field

[0001] This invention relates to the field of aircraft carrier deck path planning technology, specifically to an aircraft carrier deck path planning method based on a dynamic partitioned adaptive potential field. Background Technology

[0002] With the rapid development of artificial intelligence technology, future aircraft carrier operations will exhibit three significant characteristics: deep intelligence, distributed collaboration, and cross-domain integration. Against this backdrop, the intelligent upgrades of carrier-based aircraft and tractors, as core equipment for aircraft carrier deck operations, are crucial for improving operational efficiency and safety. In particular, heterogeneous unmanned equipment composed of unmanned carrier-based aircraft and unmanned tractors faces more complex path planning and control challenges during deck transport than individual pieces of equipment.

[0003] The following key issues exist in current aircraft carrier deck operations: First, the operational area is spatially limited and highly dynamic, and the strong coupling characteristics of heterogeneous unmanned equipment require path planning to support multi-objective parallel processing; second, the transport of carrier-based aircraft must follow strict operational rules, such as the space freezing mechanism of relevant runways during landing, which further exacerbates the complexity of deck space utilization; finally, due to the special motion characteristics of heterogeneous unmanned equipment and the need for real-time obstacle avoidance, the path planning difficulty is significantly higher than that of single equipment.

[0004] Due to the aforementioned problems in current aircraft carrier deck operations, existing path planning methods all have limitations: traditional graph-based A* and Dijkstra algorithms, while guaranteeing path optimality, suffer from static environment assumptions that are difficult to adapt to dynamic obstacle changes; the artificial potential field method, while computationally efficient, has drawbacks such as local optima traps and insufficient support for heterogeneous equipment collaboration. Furthermore, these methods all exhibit significant inadequacy in handling the highly dynamic and strongly coupled deck operation environment.

[0005] Therefore, there is an urgent need for a path planning method for heterogeneous unmanned equipment on aircraft carrier decks that can achieve efficient utilization of deck space, construct dynamic safety boundary models, and solve the problem of path planning algorithms often getting stuck in local minima. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention proposes a carrier deck path planning method based on dynamic partitioning adaptive potential field. This method can efficiently complete the dynamic path planning task of heterogeneous unmanned equipment in the carrier deck environment. It achieves optimal allocation of deck space resources through dynamic partitioning control strategy, and uses adaptive potential field algorithm to ensure safe obstacle avoidance and path optimization in complex environments. Ultimately, it achieves efficient scheduling and safe operation of multi-equipment collaborative work.

[0007] This invention provides a method for aircraft carrier deck path planning based on a dynamic partitioned adaptive potential field, comprising the following steps: Establish a dynamic zone control strategy: Divide the deck transport area into Zone A and Zone B based on the landing runway boundary, monitor the carrier-based aircraft landing operation status in real time, and dynamically adjust the access permissions of Zone A and Zone B. Collect initialization environment information: Establish a ship deck coordinate system and obtain information on the starting point, target point and obstacles of the heterogeneous unmanned equipment; set the deck boundary function and determine the area where the heterogeneous unmanned equipment is located. Design of an adaptive dynamic potential field method: Based on the expansion coefficient and safety envelope domain equation of heterogeneous unmanned equipment, a heterogeneous unmanned equipment model is established, the deck collision avoidance environment information is analyzed, and a heterogeneous unmanned equipment collision avoidance model is established on the basis of the heterogeneous unmanned equipment model. A field stress modulation operator is introduced to construct an adaptive dynamic potential field function. Determine if the heterogeneous unmanned equipment has fallen into a local minimum: If the heterogeneous unmanned equipment has fallen into a local minimum, inject a curl field and then synthesize a force field to establish a non-conservative force field, so that the heterogeneous unmanned equipment can obtain escape momentum when it falls into a local minimum trap. If the heterogeneous unmanned equipment has not fallen into a local minimum, continue to the next step. Deck path optimization: Generate path points for the entire deck based on a non-conservative perspective and determine whether the heterogeneous unmanned equipment has reached the target point. If it has not reached the target point, repeat the previous step and iterate until all path points are obtained.

[0008] Furthermore, the process of establishing a dynamic partition control strategy includes: Based on the landing runway boundary, the deck transportable area is divided into Zone A and Zone B, where Zone A is the area above the runway and Zone B is the enclosed area below the runway and above the island. Through boundary functions Define the boundaries of the no-fly zone, where This represents the ordinate of a point on the boundary of region A or region B. This represents the slope of the boundary function in region A or region B. Represents the x-coordinate of a point on the boundary. This represents the initial value of the ordinate of region A or region B. ,Right now Indicates area A The initial value of the ordinate at time. Indicates area B The initial value of the ordinate; Calculate the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. :

[0009] in, The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. This represents the straight-line distance from a point within region A or region B to the boundary function.

[0010] Furthermore, the ship's deck coordinate system includes: the origin is selected as the connection point between the starboard side and the stern of the aircraft carrier; the positive direction of the X-axis is from the starboard side of the deck to the bow; and the positive direction of the Y-axis is perpendicular to the starboard side and points to the port side of the deck.

[0011] Furthermore, the process of establishing the heterogeneous unmanned equipment model includes: coefficient of expansion The maximum distance from the nose of the carrier-based aircraft to the nose of the tractor is selected to establish the safety envelope boundary of the heterogeneous unmanned equipment:

[0012] Map the target point domain based on the safety envelope boundary equation of heterogeneous unmanned equipment:

[0013] in, The x-coordinate representing the center of mass of the carrier-based aircraft. The ordinate representing the center of mass of the carrier-based aircraft. Indicates the center of gravity of carrier-based aircraft With center and radius as The x-coordinate of any point on the circle. Indicates the center of gravity of carrier-based aircraft With center and radius as The ordinate of any point on the circle. This represents the straight-line distance from the center of mass of the unmanned carrier-based aircraft to its nose. This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. Represents the x-coordinate of the target point. Represents the ordinate of the target point; Calculate the farthest distance from the obstacle to the safe envelope. :

[0014] Calculate the farthest distance from the target point to the safe envelope region. :

[0015] in, Indicates the target point With the center of gravity of carrier-based aircraft The x-coordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. Indicates the target point With the center of gravity of carrier-based aircraft The ordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. The x-coordinate represents the intersection point of the obstacle and the safety envelope. The ordinate represents the intersection point of the obstacle and the safety envelope. This represents the farthest lateral distance from the obstacle to the safety envelope. This represents the farthest longitudinal distance from the obstacle to the safety envelope. Indicates the radius of the obstacle. This represents the intersection point of the domain equations from the updated target point to the safety envelope of the heterogeneous unmanned equipment. The farthest lateral distance, This represents the intersection point of the domain equations from the updated target point to the safety envelope of the heterogeneous unmanned equipment. The farthest longitudinal distance.

[0016] Furthermore, the process of establishing a collision avoidance model for heterogeneous unmanned equipment includes: Calculate the coordinates of the intersection point between the obstacle and the safe envelope:

[0017]

[0018] Calculate the coordinates of the intersection point from the target point to the safe envelope:

[0019]

[0020] Calculate the updated target point coordinates:

[0021]

[0022] in, The x-coordinate representing the center of mass of the carrier-based aircraft. The ordinate representing the center of mass of the carrier-based aircraft. Indicates the center of gravity of carrier-based aircraft The radius of the circle with center is . This represents the straight-line distance from the center of mass of the unmanned carrier-based aircraft to its nose. This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. Represents the x-coordinate of the target point. Represents the ordinate of the target point. Indicates the target point With the center of gravity of carrier-based aircraft The x-coordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. Indicates the target point With the center of gravity of carrier-based aircraft The ordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment.

[0023] Furthermore, the process of constructing the adaptive dynamic potential field function includes: Improved obstacle repulsive potential field function :

[0024] Among them, the obstacle repulsive potential field function Field emphasis node operator :

[0025] Improved boundary repulsive potential field function :

[0026] Among them, the boundary repulsive potential field function Field emphasis node operator :

[0027] Improved target gravitational potential field function :

[0028] Among them, the target gravitational potential field function Field emphasis node operator :

[0029] in, The parameter representing the intensity of the repulsive potential field controlling the obstacle. Indicates the farthest distance from the obstacle to the safety envelope. Indicates the range of influence of the obstacle. Indicates the radius of the obstacle. The parameter representing the intensity of the repulsive potential field controlling the boundary is... This represents the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. This indicates that the field emphasizes the sensitivity of the node. This indicates Gaussian weighting. Indicates the extent of influence of the boundary. This represents the parameter controlling the strength of the gravitational field. This represents the farthest distance from the target point to the safe envelope region. Describes a positive parameter that satisfies , The base of the natural logarithm. Indicates the basic attenuation coefficient. Indicates the magnitude of the increase. Indicates the Sigmoid slope. To increase the initial distance,

[0030] in Indicates the minimum braking distance of carrier-based aircraft. Indicates the maximum speed during the transportation process. This indicates the system response time.

[0031] Furthermore, the criteria for determining whether heterogeneous unmanned equipment has fallen into a local minimum... Represented as:

[0032] The total gradient for:

[0033] Among them, each gradient , and The calculation formula is:

[0034] Hessian matrix for:

[0035] in, Indicates the threshold condition. Represents the total gradient The 2-norm of the matrix, where det represents the determinant of the matrix. The field stress modulator operator represents the field function of the obstacle repulsive potential. Field stress modifier representing the target gravitational potential field function , The field stress modulating operator represents the boundary repulsive potential field function. This represents the parameter controlling the strength of the gravitational field. This represents the farthest distance from the target point to the safe envelope region. Describes a positive parameter that satisfies , express, This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. The x-coordinate represents the intersection of the line connecting the target point and the center of mass of the carrier-based aircraft with the equation of the safety envelope of the heterogeneous unmanned equipment. The ordinate represents the intersection point of the line connecting the target point and the center of mass of the carrier-based aircraft and the domain equation of the safety envelope of the heterogeneous unmanned equipment. This represents the farthest lateral distance from the updated target point to the intersection point of the domain equations of the safety envelope of the heterogeneous unmanned equipment. This represents the farthest longitudinal distance from the updated target point to the intersection point of the domain equations of the safety envelope of the heterogeneous unmanned equipment. The parameter representing the intensity of the repulsive potential field controlling the obstacle. Indicates the range of influence of the obstacle. Indicates the farthest distance from the obstacle to the safety envelope. The x-coordinate represents the intersection point of the obstacle and the safety envelope. The ordinate represents the intersection point of the obstacle and the safety envelope. This represents the farthest lateral distance from the obstacle to the safety envelope. This represents the farthest longitudinal distance from the obstacle to the safety envelope. This represents the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. Indicates the extent of influence of the boundary. The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. This represents the slope of the boundary function in region A or region B. This represents the initial value of the ordinate of region A or region B. ,Right now This represents the initial value of the ordinate of region A. This represents the initial value of the ordinate of region B. To represent partial derivatives, It represents the sum of all potential fields.

[0036] Furthermore, the curl field Represented as:

[0037] Where the vector potential for

[0038] in, Represents the coupling coefficient. Represents curl operation, , , This indicates the longitudinal velocity of the heterogeneous unmanned equipment. This indicates the lateral velocity of the heterogeneous unmanned equipment. This represents the curl field strength coefficient. Indicates the attenuation coefficient. This indicates the radial distance between the heterogeneous unmanned equipment and the obstacle. This represents the current heading unit vector. It represents the base of the natural logarithm.

[0039] Furthermore, the nonconservative force field Represented as:

[0040] Among them, path update points for

[0041] Among them, non-conservative force field This allows the system to gain escape momentum when it gets trapped in a local minimum. Represents the sum of all potential fields. The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. To represent partial derivatives, Represents the curl field. This represents the condition for determining a local minimum. Represents the total gradient. Indicates the first The coordinates of the step. Indicates the first The coordinates of the heterogeneous unmanned equipment in the step. This indicates a fixed step size.

[0042] Furthermore, the method is applicable to the following aircraft carrier deck operation scenarios: Symmetrical obstacle trap scenario: When there are symmetrically distributed obstacles on both sides of the carrier-based aircraft; Vibration scenario in narrow passages: such as the edge of a landing runway; Unreachable target scenario: When there are obstacles near the target point.

[0043] Compared with the prior art, the present invention has the following beneficial effects: In terms of space utilization efficiency, this invention breaks through the limitations of traditional static zoning strategies. By constructing a dynamic zoning control strategy, it dynamically adjusts zoning access permissions in real time, optimizing the utilization of deck space resources while ensuring safety. Unlike existing technologies that simply and crudely prohibit all transport operations crossing the runway, this invention precisely controls transport permissions through mathematical relationships, effectively solving the problem of runway area space freezing and creating favorable conditions for the efficient scheduling of carrier-based aircraft.

[0044] In the area of ​​heterogeneous unmanned equipment collaboration, this invention considers the unique motion characteristics of the carrier-based aircraft-towing vehicle combination and establishes a safety envelope equation that includes an expansion coefficient. Compared to traditional methods that crudely simplify complex equipment into point masses, the safety envelope equation established in this invention is more in line with engineering practice, significantly improving the collision avoidance capability of heterogeneous equipment collaboration, while also making path planning more rational and efficient. This refined modeling method provides a reliable guarantee for the collaborative operation of multiple types of equipment.

[0045] In terms of environmental adaptability, the adaptive dynamic potential field algorithm proposed in this invention significantly improves the dynamic obstacle avoidance capability of heterogeneous unmanned equipment. A three-layer dynamic potential field is constructed by introducing a field intensity modulating operator. Simultaneously, curl perturbation technology is incorporated to address the problem of traditional artificial potential field methods easily getting trapped in local optima. This invention utilizes an adaptive repulsive field to achieve obstacle avoidance, and combines it with curl field perturbation technology to ensure that feasible paths can still be found in boundary constraint regions and obstacle regions, significantly improving the obstacle avoidance capability of heterogeneous unmanned equipment in complex deck environments.

[0046] Based on the aforementioned innovations, this invention is particularly suitable for the extremely complex, dynamic, and high-risk operating environment of aircraft carrier decks, demonstrating significant advantages in application scenarios such as multi-aircraft landing scheduling and rapid transfer, dense static and dynamic obstacle avoidance, and collaborative operations of multiple heterogeneous equipment. Through dynamic partitioning management and adaptive potential field planning, this invention effectively solves the path conflicts and deadlock problems caused by the strong coupling of aircraft carrier deck tasks and limited space, providing core technical support for improving the sortie and recovery efficiency of carrier-based aircraft and the level of intelligence in deck operations. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart of the method of the present invention.

[0049] Figure 2 This is a schematic diagram of deck movement during landing according to the present invention.

[0050] Figure 3 This is a schematic diagram illustrating the handling of cargo on the ship's deck during ship operations, as described in this invention.

[0051] Figure 4 This is a schematic diagram illustrating the movable and non-movable aspects of the ship's deck during ship operations, as presented in this invention.

[0052] Figure 5 This is a coordinate diagram of the ship's deck according to the present invention.

[0053] Figure 6 This is a flowchart of the heterogeneous unmanned equipment ship surface path planning method based on the adaptive dynamic potential field method for landing operations, as presented in this invention.

[0054] Figure 7 This is a diagram showing the expansion coefficient of the heterogeneous unmanned equipment of the present invention.

[0055] Figure 8 This is a schematic diagram of the collision avoidance of heterogeneous unmanned equipment according to the present invention. Detailed Implementation

[0056] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0057] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0058] This invention provides the following technical solutions: like Figure 1 The method for aircraft carrier deck path planning based on dynamic partitioning adaptive potential field, as shown, specifically includes the following steps: S1. Establish a dynamic zone control strategy: Divide the deck transportable area into Zone A and Zone B based on the landing runway boundary, monitor the carrier-based aircraft landing operation status in real time, and dynamically adjust the access permissions of Zone A and Zone B. In one embodiment, to more intuitively describe the impact of carrier-based aircraft landing operations on relocation operations, a system is established as follows: Figure 2The diagram shows a schematic of aircraft carrier deck movement. The runway boundary divides the movable area of ​​the deck into zones A and B, with zone B being the area enclosed by the runway and the island superstructure. The diagram also shows the movement of aircraft from zone A to catapult position 3 in zone B (curve ab) when there are no landing operations. Since no aircraft are landing, ab can cross the runway for movement. In such cases, traditional path planning algorithms can meet the deck movement requirements; this invention will not discuss this further, but only considers deck movement path planning when there are landing operations.

[0059] In one embodiment, the following relationship applies to carrier-based aircraft landing and relocation operations on the ship's deck:

[0060] in, This indicates the number of carrier-based aircraft parked in area A of the deck; the maximum number of aircraft that can be parked is [number missing]. ; The catapults in area B are designated as catapult 3 and catapult 4. This indicates that carrier-based aircraft in area A are moving to catapult positions in area B, for example... This indicates that aircraft carrier-based aircraft number 1 in area A is moving to catapult position number 3 in area B. This indicates that there is shipboard work on the deck at this time; conversely... This indicates no. Similarly, the relationship between aircraft from area B and catapult positions in area A can be obtained as follows:

[0061] in, This indicates the number of carrier-based aircraft parked in deck area B; the maximum number that can be parked is [number missing]. ; The catapults in area B are designated as catapult 1 and catapult 2. Aside from the two scenarios mentioned above, the movement of aircraft from area A to catapult 2 also requires further discussion:

[0062] In one embodiment, when landing operations are being carried out on the deck, such as Figure 2 The situation described in the text makes direct transport difficult; carrier-based aircraft in Area A are not allowed to directly cross the landing runway to reach the catapult position in Area B (e.g., Figure 3 (As shown). Therefore, in order to improve the operational efficiency of the ship's deck, it is necessary to propose a new path planning method that takes into account the landing operation. First, all permissible transport situations under ship operations are sorted out, such as... Figure 4 As shown. Combined with Figure 4 It can be seen that by implementing zoned control and relocation of carrier-based aircraft on the deck, the impact of landing operations on relocation operations can be effectively simplified.

[0063] S2. Collect initialization environment information: Establish the ship deck coordinate system and obtain the starting point, target point and obstacle information of the heterogeneous unmanned equipment, set the deck boundary function and determine the area where the heterogeneous unmanned equipment is located.

[0064] In one embodiment, establish as Figure 5 The ship's deck coordinates shown (Deck origin) The connection point between the starboard side and the stern of the aircraft carrier was chosen, with the starboard side of the carrier pointing towards the bow. The positive direction, perpendicular to the starboard side and pointing towards the port side of the aircraft carrier. (Positive direction), determining the starting point coordinates of the heterogeneous unmanned equipment using ship deck coordinates. Coordinates of the obstacle Coordinates of the target point Minimum safe distance between heterogeneous unmanned equipment and no-fly zone boundaries and Maximum range of influence of obstacles and radius and the number of obstacles and the step size of heterogeneous unmanned equipment Let 1 be the value.

[0065] In one embodiment, through a boundary function Define the boundaries of the no-fly zone, where This represents the ordinate of a point on the boundary of region A or region B. This represents the slope of the boundary function in region A or region B. Represents the x-coordinate of a point on the boundary. This represents the initial value of the ordinate of region A or region B. ,Right now Indicates area A The initial value of the ordinate at time. Indicates area B The initial value of the ordinate; Calculate the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. :

[0066] in, The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. This represents the straight-line distance from a point within region A or region B to the boundary function.

[0067] S3. Design of an adaptive dynamic potential field method: Based on the expansion coefficient and safety envelope domain equation of the heterogeneous unmanned equipment, establish a heterogeneous unmanned equipment model, analyze the deck collision avoidance environment information, establish a heterogeneous unmanned equipment collision avoidance model on the basis of the heterogeneous unmanned equipment model, and introduce a field stress modulation operator to construct an adaptive dynamic potential field function. In one embodiment, such as Figure 6 The diagram shows a flowchart of a heterogeneous unmanned equipment surface path planning method that considers the adaptive dynamic potential field method for landing operations.

[0068] In one embodiment, the path planning of heterogeneous unmanned equipment differs significantly from that of individual equipment, especially for heterogeneous unmanned equipment combining an unmanned tractor and an unmanned carrier-based aircraft. Furthermore, to improve the collision avoidance performance of heterogeneous unmanned equipment, an expansion coefficient needs to be incorporated into the path planning of the unmanned carrier-based aircraft. Combining Figure 7 It can be known Let be the distance from the nose of the carrier-based aircraft to the nose of the tractor unit in the heterogeneous unmanned equipment. Since the articulation point can rotate, this distance is allowed if and only if the angle between the tractor unit and the carrier-based aircraft is 0. The maximum value is obtained, and it will be named as follows. .

[0069] In one embodiment, the process of establishing a heterogeneous unmanned equipment model includes: according to Figure 8 The diagram illustrates the collision avoidance mechanism of the heterogeneous unmanned equipment, and its expansion coefficient is shown. The maximum distance from the nose of the carrier-based aircraft to the nose of the tractor is selected to establish the safety envelope boundary of the heterogeneous unmanned equipment:

[0070] Map the target point domain based on the safety envelope boundary equation of heterogeneous unmanned equipment:

[0071] in, The x-coordinate representing the center of mass of the carrier-based aircraft. The ordinate representing the center of mass of the carrier-based aircraft. Indicates the center of gravity of carrier-based aircraft With center and radius as The x-coordinate of any point on the circle. Indicates the center of gravity of carrier-based aircraft With center and radius as The ordinate of any point on the circle. This represents the straight-line distance from the center of mass of the unmanned carrier-based aircraft to its nose. This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. Represents the x-coordinate of the target point. Represents the ordinate of the target point; Calculate the farthest distance from the obstacle to the safe envelope. :

[0072] Calculate the farthest distance from the target point to the safe envelope region. :

[0073] in, Indicates the target point With the center of gravity of carrier-based aircraft The x-coordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. Indicates the target point With the center of gravity of carrier-based aircraft The ordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. The x-coordinate represents the intersection point of the obstacle and the safety envelope. The ordinate represents the intersection point of the obstacle and the safety envelope. This represents the farthest lateral distance from the obstacle to the safety envelope. This represents the farthest longitudinal distance from the obstacle to the safety envelope. Indicates the radius of the obstacle. This represents the intersection point of the domain equations from the updated target point to the safety envelope of the heterogeneous unmanned equipment. The farthest lateral distance, This represents the intersection point of the domain equations from the updated target point to the safety envelope of the heterogeneous unmanned equipment. The farthest longitudinal distance.

[0074] In one embodiment, the process of establishing a collision avoidance model for heterogeneous unmanned equipment includes: Calculate the coordinates of the intersection point between the obstacle and the safe envelope:

[0075]

[0076] Calculate the coordinates of the intersection point from the target point to the safe envelope:

[0077]

[0078] Calculate the updated target point coordinates:

[0079]

[0080] in, The x-coordinate representing the center of mass of the carrier-based aircraft. The ordinate representing the center of mass of the carrier-based aircraft. Indicates the center of gravity of carrier-based aircraft The radius of the circle with center is . This represents the straight-line distance from the center of mass of the unmanned carrier-based aircraft to its nose. This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. Represents the x-coordinate of the target point. Represents the ordinate of the target point. Indicates the target point With the center of gravity of carrier-based aircraft The x-coordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. Indicates the target point With the center of gravity of carrier-based aircraft The ordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment.

[0081] In one embodiment, the process of constructing the adaptive dynamic potential function includes: A virtual potential field function is constructed, and the gravitational potential field function of the target point for heterogeneous unmanned equipment is established based on the artificial potential field method. The repulsive potential field function of the boundary function for heterogeneous unmanned equipment The repulsive potential field function of obstacles on heterogeneous unmanned equipment

[0082]

[0083] Based on the aforementioned virtual potential field function, a field modulation operator is introduced to construct an adaptive dynamic potential field method, which improves the obstacle repulsion potential field function. :

[0084] Among them, the obstacle repulsive potential field function Field emphasis node operator :

[0085] Improved boundary repulsive potential field function :

[0086] Among them, the boundary repulsive potential field function Field emphasis node operator :

[0087] Improved target gravitational potential field function :

[0088] Among them, the target gravitational potential field function Field emphasis node operator :

[0089] in, The parameter representing the intensity of the repulsive potential field controlling the obstacle. Indicates the farthest distance from the obstacle to the safety envelope. Indicates the range of influence of the obstacle. Indicates the radius of the obstacle. The parameter representing the intensity of the repulsive potential field controlling the boundary is... This represents the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. This indicates that the field emphasizes the sensitivity of the node. This indicates Gaussian weighting. Indicates the extent of influence of the boundary. This represents the parameter controlling the strength of the gravitational field. This represents the farthest distance from the target point to the safe envelope region. Describes a positive parameter that satisfies , The base of the natural logarithm. Indicates the basic attenuation coefficient. Indicates the magnitude of the increase. Indicates the Sigmoid slope. To increase the initial distance,

[0090] in Indicates the minimum braking distance of carrier-based aircraft. Indicates the maximum speed during the transportation process. This indicates the system response time.

[0091] S4. Determine if the heterogeneous unmanned equipment has fallen into a local minimum: If the heterogeneous unmanned equipment has fallen into a local minimum, inject a curl field and then synthesize a force field to establish a non-conservative force field, so that the heterogeneous unmanned equipment can obtain escape momentum when it falls into a local minimum trap. If the heterogeneous unmanned equipment has not fallen into a local minimum, continue to the next step S5.

[0092] In one embodiment, in an aircraft carrier deck environment, the following three situations can easily cause the path planning algorithm to get trapped in a local minimum: Symmetrical obstacle trap: When there are symmetrically distributed obstacles on both sides of a carrier-based aircraft, the repulsive forces cancel each other out, causing the aircraft to stop moving. Narrow passage oscillation: The reciprocating oscillation phenomenon that occurs in narrow areas such as the edge of a landing runway; Unreachable target: The point of equilibrium between attraction and repulsion when there are obstacles near the target point.

[0093] In one embodiment, the criterion for determining whether heterogeneous unmanned equipment has fallen into a local minimum is... Represented as:

[0094] The total gradient for:

[0095] Among them, each gradient , and The calculation formula is:

[0096] Hessian matrix for:

[0097] in, Indicates the threshold condition. Represents the total gradient The 2-norm of the matrix, where det represents the determinant of the matrix. The field stress modulator operator represents the field function of the obstacle repulsive potential. Field stress modifier representing the target gravitational potential field function , The field stress modulating operator represents the boundary repulsive potential field function. This represents the parameter controlling the strength of the gravitational field. This represents the farthest distance from the target point to the safe envelope region. Describes a positive parameter that satisfies , express, This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. The x-coordinate represents the intersection of the line connecting the target point and the center of mass of the carrier-based aircraft with the equation of the safety envelope of the heterogeneous unmanned equipment. The ordinate represents the intersection point of the line connecting the target point and the center of mass of the carrier-based aircraft and the domain equation of the safety envelope of the heterogeneous unmanned equipment. This represents the farthest lateral distance from the updated target point to the intersection point of the domain equations of the safety envelope of the heterogeneous unmanned equipment. This represents the farthest longitudinal distance from the updated target point to the intersection point of the domain equations of the safety envelope of the heterogeneous unmanned equipment. The parameter representing the intensity of the repulsive potential field controlling the obstacle. Indicates the range of influence of the obstacle. Indicates the farthest distance from the obstacle to the safety envelope. The x-coordinate represents the intersection point of the obstacle and the safety envelope. The ordinate represents the intersection point of the obstacle and the safety envelope. This represents the farthest lateral distance from the obstacle to the safety envelope. This represents the farthest longitudinal distance from the obstacle to the safety envelope. This represents the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. Indicates the extent of influence of the boundary. The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. This represents the slope of the boundary function in region A or region B. This represents the initial value of the ordinate of region A or region B. ,Right now This represents the initial value of the ordinate of region A. This represents the initial value of the ordinate of region B. To represent partial derivatives, It represents the sum of all potential fields.

[0098] In one embodiment, to avoid getting trapped in a local minimum, a curl component is added to the total potential field.

[0099] in, Here is the curl field intensity vector. The coupling coefficient is... Curl operations can be simplified to scalars in a two-dimensional plane. , , , The longitudinal velocity of the equipment for the heterogeneous component, The lateral speed of heterogeneous unmanned equipment; Let be a vector potential, its specific expression is:

[0100] in, This is the curl field strength coefficient; , These are the obstacle repulsion field stress-joint operator and the boundary repulsion field stress-joint operator, respectively. The attenuation coefficient; The radial distance from the obstacle is . This is the unit vector for the current heading. , where the velocity vector is .

[0101] S5. Deck Path Optimization: Generate path points for the entire deck based on a non-conservative stance and determine whether the heterogeneous unmanned equipment has reached the target point. If it has not reached the target point, repeat the previous step S4 and iterate until all path points are obtained.

[0102] In one embodiment, the nonconservative force field Represented as:

[0103] Among them, path update points for:

[0104] Among them, non-conservative force field This allows the system to gain escape momentum when it gets trapped in a local minimum. Represents the sum of all potential fields. The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. To represent partial derivatives, Represents the curl field. This represents the condition for determining a local minimum. Represents the total gradient. Indicates the first The coordinates of the step. Indicates the first The coordinates of the heterogeneous unmanned equipment in the step. This indicates a fixed step size.

[0105] This invention proposes a path planning method for aircraft carrier decks based on a dynamic partitioned adaptive potential field, which realizes efficient utilization of aircraft carrier deck space, constructs a dynamic safety boundary model, and solves the problem that path planning algorithms often get stuck in local minima. It is of great significance for improving the operational efficiency and safety of heterogeneous unmanned equipment on aircraft carrier decks.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for aircraft carrier deck path planning based on a dynamic partitioned adaptive potential field, characterized in that, Includes the following steps: Establish a dynamic zone control strategy: Divide the deck transport area into Zone A and Zone B based on the landing runway boundary, monitor the carrier-based aircraft landing operation status in real time, and dynamically adjust the access permissions of Zone A and Zone B. Collect initialization environment information: Establish a ship deck coordinate system and obtain information on the starting point, target point and obstacles of the heterogeneous unmanned equipment, set the deck boundary function, and determine the area where the heterogeneous unmanned equipment is located; Design of an adaptive dynamic potential field method: Based on the expansion coefficient and safety envelope domain equation of heterogeneous unmanned equipment, a heterogeneous unmanned equipment model is established, the deck collision avoidance environment information is analyzed, and a heterogeneous unmanned equipment collision avoidance model is established on the basis of the heterogeneous unmanned equipment model. A field stress modulation operator is introduced to construct an adaptive dynamic potential field function. Determine if the heterogeneous unmanned equipment has fallen into a local minimum: If the heterogeneous unmanned equipment has fallen into a local minimum, inject a curl field and then synthesize a force field to establish a non-conservative force field, so that the heterogeneous unmanned equipment can obtain escape momentum when it falls into a local minimum trap. If the heterogeneous unmanned equipment has not fallen into a local minimum, continue to the next step. Deck path optimization: Generate path points for the entire deck based on a non-conservative perspective and determine whether the heterogeneous unmanned equipment has reached the target point. If it has not reached the target point, repeat the previous step and iterate until all path points are obtained.

2. The carrier deck path planning method based on dynamic partitioning adaptive potential field according to claim 1, characterized in that, The process of establishing a dynamic partition control strategy includes: Based on the landing runway boundary, the deck transportable area is divided into Zone A and Zone B, where Zone A is the area above the runway and Zone B is the enclosed area below the runway and above the island. Through boundary functions Define the boundaries of the no-fly zone, where This represents the ordinate of a point on the boundary of region A or region B. This represents the slope of the boundary function in region A or region B. Represents the x-coordinate of a point on the boundary. This represents the initial value of the ordinate of region A or region B. ,Right now Indicates area A The initial value of the ordinate at time. Indicates area B The initial value of the ordinate; Calculate the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. : in, The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. This represents the straight-line distance from a point within region A or region B to the boundary function.

3. The aircraft carrier deck path planning method based on a dynamic partitioned adaptive potential field according to claim 1, characterized in that, The ship's deck coordinate system includes: The origin point is chosen as the connection point between the starboard side and the stern of the aircraft carrier. The positive direction of the X-axis is the starboard side of the deck pointing towards the bow; The positive direction of the Y-axis is perpendicular to the starboard side and points towards the port side of the deck.

4. The aircraft carrier deck path planning method based on dynamic partitioning adaptive potential field according to claim 1, characterized in that, The following method is used to establish the heterogeneous unmanned equipment model: coefficient of expansion The maximum distance from the nose of the carrier-based aircraft to the nose of the tractor is selected to establish the safety envelope boundary of the heterogeneous unmanned equipment: Map the target point domain based on the safety envelope boundary equation of heterogeneous unmanned equipment: in, The x-coordinate representing the center of mass of the carrier-based aircraft. The ordinate representing the center of mass of the carrier-based aircraft. Indicates the center of gravity of carrier-based aircraft With center and radius as The x-coordinate of any point on the circle. Indicates the center of gravity of carrier-based aircraft With center and radius as The ordinate of any point on the circle. This represents the straight-line distance from the center of mass of the unmanned carrier-based aircraft to its nose. This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. Represents the x-coordinate of the target point. Represents the ordinate of the target point; Calculate the farthest distance from the obstacle to the safe envelope. : Calculate the farthest distance from the target point to the safe envelope region. : in, Indicates the target point With the center of gravity of carrier-based aircraft The x-coordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. Indicates the target point With the center of gravity of carrier-based aircraft The ordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. The x-coordinate represents the intersection point of the obstacle and the safety envelope. The ordinate represents the intersection point of the obstacle and the safety envelope. This represents the farthest lateral distance from the obstacle to the safety envelope. This represents the farthest longitudinal distance from the obstacle to the safety envelope. Indicates the radius of the obstacle. This represents the intersection point of the domain equations from the updated target point to the safety envelope of the heterogeneous unmanned equipment. The farthest lateral distance, This represents the intersection point of the domain equations from the updated target point to the safety envelope of the heterogeneous unmanned equipment. The farthest longitudinal distance.

5. The aircraft carrier deck path planning method based on a dynamic partitioned adaptive potential field according to claim 1, characterized in that, The process of establishing a collision avoidance model for heterogeneous unmanned equipment includes: Calculate the coordinates of the intersection point between the obstacle and the safe envelope: Calculate the coordinates of the intersection point from the target point to the safe envelope: Calculate the updated target point coordinates: in, The x-coordinate representing the center of mass of the carrier-based aircraft. The ordinate representing the center of mass of the carrier-based aircraft. Indicates the center of gravity of carrier-based aircraft The radius of the circle with center is . This represents the straight-line distance from the center of mass of the unmanned carrier-based aircraft to its nose. This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. Represents the x-coordinate of the target point. Represents the ordinate of the target point. Indicates the target point With the center of gravity of carrier-based aircraft The x-coordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment. Indicates the target point With the center of gravity of carrier-based aircraft The ordinate of the intersection point of the line and the domain equation of the safety envelope of heterogeneous unmanned equipment.

6. The aircraft carrier deck path planning method based on a dynamic partitioned adaptive potential field according to claim 1, characterized in that, The process of constructing the adaptive dynamic potential field function includes: Improved obstacle repulsive potential field function : Among them, the obstacle repulsive potential field function Field emphasis node operator : Improved boundary repulsive potential field function : Among them, the boundary repulsive potential field function Field emphasis node operator : Improved target gravitational potential field function : Among them, the target gravitational potential field function Field emphasis node operator : in, The parameter representing the intensity of the repulsive potential field controlling the obstacle. Indicates the farthest distance from the obstacle to the safety envelope. Indicates the range of influence of the obstacle. Indicates the radius of the obstacle. The parameter representing the intensity of the repulsive potential field controlling the boundary is... This represents the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. This indicates that the field emphasizes the sensitivity of the node. This indicates Gaussian weighting. Indicates the extent of influence of the boundary. This represents the parameter controlling the strength of the gravitational field. This represents the farthest distance from the target point to the safe envelope region. Describes a positive parameter that satisfies , The base of the natural logarithm. Indicates the basic attenuation coefficient. Indicates the magnitude of the increase. Indicates the Sigmoid slope. To begin enhancing the distance, in Indicates the minimum braking distance of carrier-based aircraft. Indicates the maximum speed during the transportation process. This indicates the system response time.

7. The aircraft carrier deck path planning method based on a dynamic partitioned adaptive potential field according to claim 1, characterized in that, The criteria for determining whether heterogeneous unmanned equipment has fallen into a local minimum Represented as: The total gradient for: Among them, each gradient , and The calculation formula is: Hessian matrix for: in, Indicates the threshold condition. Represents the total gradient The 2-norm of the matrix, where det represents the determinant of the matrix. The field stress modulator operator represents the field function of the obstacle repulsive potential. Field stress modifier representing the target gravitational potential field function , The field stress modulating operator represents the boundary repulsive potential field function. This represents the parameter controlling the strength of the gravitational field. This represents the farthest distance from the target point to the safe envelope region. Describes a positive parameter that satisfies , express, This represents the updated x-coordinate of the target point within its neighborhood. This represents the updated ordinate of the target point within its neighborhood. The x-coordinate represents the intersection of the line connecting the target point and the center of mass of the carrier-based aircraft with the equation of the safety envelope of the heterogeneous unmanned equipment. The ordinate represents the intersection point of the line connecting the target point and the center of mass of the carrier-based aircraft and the domain equation of the safety envelope of the heterogeneous unmanned equipment. This represents the farthest lateral distance from the updated target point to the intersection point of the domain equations of the safety envelope of the heterogeneous unmanned equipment. This represents the farthest longitudinal distance from the updated target point to the intersection point of the domain equations of the safety envelope of the heterogeneous unmanned equipment. The parameter representing the intensity of the repulsive potential field controlling the obstacle. Indicates the range of influence of the obstacle. Indicates the farthest distance from the obstacle to the safety envelope. The x-coordinate represents the intersection point of the obstacle and the safety envelope. The ordinate represents the intersection point of the obstacle and the safety envelope. This represents the farthest lateral distance from the obstacle to the safety envelope. This represents the farthest longitudinal distance from the obstacle to the safety envelope. This represents the distance from heterogeneous unmanned equipment within the current partition to the boundary function of this region. Indicates the extent of influence of the boundary. The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. This represents the slope of the boundary function in region A or region B. This represents the initial value of the ordinate of region A or region B. ,Right now This represents the initial value of the ordinate of region A. This represents the initial value of the ordinate of region B. To represent partial derivatives, It represents the sum of all potential fields.

8. The aircraft carrier deck path planning method based on a dynamic partitioned adaptive potential field according to claim 1, characterized in that, The curl field Represented as: Where the vector potential for in, Represents the coupling coefficient. Represents curl operation, , , This indicates the longitudinal velocity of the heterogeneous unmanned equipment. This indicates the lateral velocity of the heterogeneous unmanned equipment. This represents the curl field strength coefficient. Indicates the attenuation coefficient. This indicates the radial distance between the heterogeneous unmanned equipment and the obstacle. This represents the current heading unit vector. It represents the base of the natural logarithm.

9. The aircraft carrier deck path planning method based on a dynamic partitioned adaptive potential field according to claim 1, characterized in that, The nonconservative force field Represented as: Among them, path update points for: Among them, non-conservative force field This allows the system to gain escape momentum when it gets trapped in a local minimum. Represents the sum of all potential fields. The x-coordinate representing the center of mass of the carrier-based aircraft. This represents the longitudinal coordinate of the carrier-based aircraft's center of mass on the ship's deck. To represent partial derivatives, Represents the curl field. This represents the condition for determining a local minimum. Represents the total gradient. Indicates the first The coordinates of the step. Indicates the first The coordinates of the heterogeneous unmanned equipment in the step. This indicates a fixed step size.

10. The carrier deck path planning method based on dynamic partitioning adaptive potential field according to claim 1, characterized in that, The method is applicable to the following aircraft carrier deck operation scenarios: Symmetrical obstacle trap scenario: When there are symmetrically distributed obstacles on both sides of the carrier-based aircraft; Vibration scenario in narrow passages: such as the edge of a landing runway; Unreachable target scenario: When there are obstacles near the target point.

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