skip to main content
10.1145/3638584.3638640acmotherconferencesArticle/Chapter ViewAbstractPublication PagescsaiConference Proceedingsconference-collections
research-article

Research on cross-regional path planning algorithm for aircraft unmanned tractor based on improved A* algorithm

Published: 14 March 2024 Publication History

Abstract

Unmanned tractors can replace experienced drivers in driving and warehousing aircraft on the ground. When the airport and hangar environment is more complex, higher requirements are also put forward for the path planning algorithm. The A* algorithm is a heuristic search algorithm widely used in path planning. Improved based on the classic A* algorithm, it can avoid obstacles across regions while improving efficiency and reducing path cost consumption. First, a region segmentation method was designed, and then the evaluation function was redesigned to avoid falling into local optimality. At the same time, it was improved to delete child nodes that have passed the obstacle vertex when selecting child nodes to avoid collisions. Finally, the optimisation path was improved, redundant nodes were deleted, and secondary optimisation was performed to reduce the number of turns and the total number of turns. Simulation experiments were conducted through Matlab, and the data showed that the improved A* algorithm has high smoothness, avoided collisions, reduced crossing areas, and saved movement time.

References

[1]
Meng X, Wang N, Liu Q.Aircraft Parking Trajectory Planning in Semistructured Environment Based on Kinodynamic Safety RRT* [J].Mathematical Problems in Engineering,2021, 2021: 3872248
[2]
Liu J, Dong X, Wang J, A Novel EPT Autonomous Motion Control Framework for an Off-Axle Hitching Tractor-Trailer System With Drawbar [J].IEEE Transactions on Intelligent Vehicles,2020, PP (99): 11
[3]
Liu J, Han W, Peng H, Trajectory planning and tracking control for towed carrieraircraft system [J].Aerospace Science & Technology,2019, 84 (JAN.): 830-838.
[4]
Gu Chen Application of improved A* algorithm in robot path planning. Electronic Design Engineering. 2014(10).96-102.
[5]
Wei Shan, Wang Ling, Wang Binrui. Improvement of A* algorithm and its application in AGV path planning. Automation Instrument. 2017(11).52-54.
[6]
Wang Wei, Pei Dong, Feng Zhang. Shortest path planning for mobile robots with improved A* algorithm. Computer Applications. 2018(5).1523-1526
[7]
Zhao Xiao, Wang Jiabin, Zhang Xue, Application of A* algorithm in unmanned vehicle path planning. Computer Technology and Development. 2016(11).153-156.
[8]
Zhang Hongmei, Li Minglong, Yang Le. Mobile robot safe path planning based on improved A* algorithm. Computer Simulation. 2018(4).319-324
[9]
YIN M,YUAN K,SHI C,et al.Planning of mobile robot based on improved A* algorithm [C] // Proceedings of the 2017 29th Chinese Control and Decision Control and Decision Conference. Piscataway, NJ:IEEE,2017:3570-3576.
[10]
ULUSOY A,SMITH S L,DING X, Optimal multi-robot path planning with temporal logic constraints [C]. Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE,2011: 3087-3092.
[11]
Gail Joon A. Efficient construction of provably secure steganography under ordinary covert channels [J].Science China: Information Sciences, 2012(7): 1639-1649.
[12]
ARPINO C P,MELENDEZ W M,GUZMAN J, Fuzzy logic based speed planning for autonomous navigation under velocity field control [C]. 2009 IEEE Int Conf on Mechatronics. Malaga, 2009: 201-212.

Index Terms

  1. Research on cross-regional path planning algorithm for aircraft unmanned tractor based on improved A* algorithm

    Recommendations

    Comments

    Information & Contributors

    Information

    Published In

    cover image ACM Other conferences
    CSAI '23: Proceedings of the 2023 7th International Conference on Computer Science and Artificial Intelligence
    December 2023
    563 pages
    ISBN:9798400708688
    DOI:10.1145/3638584
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

    Publisher

    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 14 March 2024

    Permissions

    Request permissions for this article.

    Check for updates

    Author Tags

    1. A* algorithm
    2. area segmentation
    3. path planning
    4. unmanned tractor

    Qualifiers

    • Research-article
    • Research
    • Refereed limited

    Conference

    CSAI 2023

    Contributors

    Other Metrics

    Bibliometrics & Citations

    Bibliometrics

    Article Metrics

    • 0
      Total Citations
    • 12
      Total Downloads
    • Downloads (Last 12 months)12
    • Downloads (Last 6 weeks)3
    Reflects downloads up to 16 Feb 2025

    Other Metrics

    Citations

    View Options

    Login options

    View options

    PDF

    View or Download as a PDF file.

    PDF

    eReader

    View online with eReader.

    eReader

    HTML Format

    View this article in HTML Format.

    HTML Format

    Figures

    Tables

    Media

    Share

    Share

    Share this Publication link

    Share on social media