ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Genetic collision avoidance planning algorithm for irregular shaped object with kinematics constraint
Received date: 2014-05-08
Revised date: 2014-06-18
Online published: 2014-07-09
Supported by
National Natural Science Foundation of China (61104037, 61304060); International S & T Cooperation Program of China (2013DFR10030); Fundamental Research Funds for the Central Universities (HEUCFX41304)
To deal with the path planning problems of irregularly shaped objects in complex environment, a genetic collision avoidance algorithm with kinematics constraint is developed. This algorithm is then applied to the path planning operations on carrier-based aircraft scheduling on carrier flight deck. Moreover, it can be extended to solve other path planning cases under such constraints. For the problems resulting from these objects, which are characterized by complex shape and the bending radius constraint while moving in complicated obstacle situations, the technique proposed is proved to be effective. Based on the traditional genetic path planning algorithm, a three-dimensional position and orientation coding method, a three-stage path decoding method and an approach specific to the collision detection and distance calculation of a track bounding box are presented. Also, a penalty term and a gene repairing strategy are brought into the genetic process to seek the optimum. Finally, simulated verifications are conducted using VC++ platform to obtain the optimal paths. The results show that the optimal collision avoidance paths in complex obstacle environment are achieved utilizing the proposed algorithm, with the pre-set bending radius constraints satisfied. It is indicated that the design yields effective solutions to the collision avoidance path planning problems correlated with this kind of objects.
ZHANG Zhi , LIN Shenglin , ZHU Qidan , WANG Kaiyu . Genetic collision avoidance planning algorithm for irregular shaped object with kinematics constraint[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015 , 36(4) : 1348 -1358 . DOI: 10.7527/S1000-6893.2014.0130
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