Refueling Boom Trajectory Planning Around Receiver Obstacles
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Solution Overview
Problem
Current air-to-air refueling systems face challenges in safely guiding the refueling boom to avoid collisions with the receiving aircraft's obstacles during the boom refueling process, as traditional methods rely on line-of-sight control, which can lead to potential collisions with obstructing components.
Innovation Solution
The implementation of a trajectory planning system using predictive artificial potential fields (APFs) to calculate and shape the boom's motion trajectory, avoiding collisions by identifying a point on the baseline trajectory farthest from the straight line between the boom tip and the receptacle, and moving the boom tip towards a temporary goal while avoiding receiver features.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If line-of-sight trajectory planning is used for boom guidance, then the control system is simple and easy to operate, but the boom may collide with receiver structural components due to limited visibility
Solution Approach 1:
The patent introduces artificial potential fields as an intermediary computational layer between the boom control system and the physical environment. These fields act as a virtual mediator that processes spatial relationships and generates collision-free trajectories without requiring direct line-of-sight visibility, thus improving reliability while maintaining manageable system complexity
Solution Approach 2:
The patent creates a three-dimensional boundary model (virtual copy) of the receiver aircraft that includes all structural components. This digital replica allows the trajectory planning system to simulate and plan boom paths in the virtual model, ensuring collision avoidance before executing actual movements, thereby improving safety without proportionally increasing physical system complexity
2Object-affected harmful factors
If the control station is positioned aft of the cockpit for operator safety, then operator protection is improved, but direct visual monitoring of the boom and receiver is lost
Solution Approach 1:
The patent replaces the mechanical visual monitoring system (direct line-of-sight from control station) with a computational vision system using artificial potential fields and 3D boundary models. This substitution allows operators to remain in safe positions while the computational system processes spatial data and generates trajectory information, converting physical visual requirements into computational processing
Solution Approach 2:
The patent introduces computational models and algorithms as intermediaries between the physical refueling operation and the operators. The artificial potential fields and 3D boundary models serve as virtual intermediaries that translate complex spatial relationships into actionable trajectory guidance, compensating for the loss of direct visual feedback while maintaining operator safety
3Productivity
If a straight-line trajectory is used for boom movement, then the fuel transfer process is fast and efficient, but collisions with receiver features are more likely
Solution Approach 1:
The patent performs preliminary computational analysis by creating three-dimensional boundary models of the receiver and calculating artificial potential fields before boom movement. This advance preparation identifies collision risks and pre-computes safe trajectory adjustments, allowing the boom to follow efficient paths while avoiding obstacles, thus maintaining productivity without sacrificing reliability
Solution Approach 2:
The patent transforms the static straight-line trajectory into a dynamic adaptive path using artificial potential fields. The trajectory continuously adjusts based on real-time spatial relationships between the boom and receiver, allowing the system to optimize for both speed and safety by dynamically selecting the most efficient collision-free path rather than following a fixed geometric line
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.