Refueling Boom Trajectory Planning With Predictive APF Collision Avoidance
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Solution Overview
Problem
Existing air-to-air refueling systems face challenges in guiding a refueling boom to avoid collisions with the receiver aircraft due to limited visibility and reliance on manual line-of-sight control, which can lead to potential collisions with obstructing components.
Innovation Solution
Implementing a trajectory planning system that uses predictive artificial potential fields (APFs) to calculate a planned trajectory for the refueling boom, avoiding collisions by shaping the path to avoid obstacles and guide the boom tip towards the fuel receptacle using attractive and repulsive forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual line-of-sight control is used to guide the refueling boom, then the control system remains simple, but the risk of collision with obstructing components increases due to limited visibility
Solution Approach 1:
The patent introduces an automated trajectory planning system that acts as an intermediary between the operator and the refueling boom. This system uses predictive artificial potential fields to calculate collision-free paths, mediating the control process to eliminate visibility limitations while maintaining operator oversight.
Solution Approach 2:
The patent replaces manual mechanical line-of-sight control with an automated computational system. The ECU calculates trajectories using predictive APFs, substituting human visual judgment and manual manipulation with algorithmic path planning that can perceive and respond to spatial relationships beyond human visual range.
2Productivity
If a straight-line trajectory is used for the boom, then the refueling process is faster, but the risk of collision with receiver components increases
Solution Approach 1:
The patent applies preliminary action by calculating the complete collision-free trajectory before boom movement begins. The ECU computes the optimal path using predictive APFs in advance, allowing the boom to follow a pre-planned curved trajectory that avoids obstacles while maintaining efficient refueling speed without reactive maneuvers.
Solution Approach 2:
The patent employs curvature by replacing straight-line trajectories with curved paths generated by predictive artificial potential fields. The APFs create smooth curved trajectories that naturally arc around obstructing components on the receiver, eliminating collision risks while maintaining refueling efficiency through optimized curved motion.
3Measurement precision
If automated control is implemented to improve precision, then collision avoidance improves, but the complexity of the control system increases
Solution Approach 1:
The patent implements feedback by continuously monitoring the boom's actual position and comparing it to the planned trajectory. The system uses sensor data to detect deviations and recalculates trajectories in real-time using predictive APFs, providing continuous feedback control that maintains high positioning accuracy while managing system complexity through adaptive rather than purely open-loop control.
Data Source
AI summary
A trajectory planning system for a refueling boom includes a human-machine interface (“HMI”) device and an electronic control unit (“ECU”). The HMI device outputs electronic control signals, in response to which the ECU performs a method. The ECU accesses a three-dimensional (“3D”) boundary model of the receiver and a 3D model of the boom. The ECU calculates a boom-to-receiver relative position using the models and sensor data, and a planned trajectory between a boom tip and a receptacle on the receiver. The trajectory is calculated using the boom-to-receiver relative position and predictive artificial potential fields. A point is found on a baseline trajectory farthest from a straight line between the receptacle and boom tip, which is recorded as a temporary goal. The planned trajectory avoids contact between the boom and receiver features. The ECU executes a control action using the planned trajectory.