Airport Surface Motion Planning and Collision Avoidance System
Date Issued
2003-07-31
Date
2003-07-31
Author(s)
DOI
912212E002061
Abstract
In this report1, the methodology of generating an optimal trajectory on a complex surface for a
specific vehicle is proposed. The possible paths are constrained by the limitations on the terrain and the
capability of the vehicle. To deal with these constraints, the notions of forbidden point, forbidden direction,
and forbidden path are introduced. After certain constants are specified, the method of dynamic
programming is then invoked to find the optimal solution. If the target is beyond the maximal range of the
vehicle, appropriate service stations are selected by using the auction algorithm. To speed up the
computation process, the ideas of bi-spiral scheme and instant update are employed. With all the techniques
at hand, numerical results show that the proposed method can generate the desired trajectory efficiently.
The method may be used to solve the path planning problems for various vehicles on the surface of an
airport.
Publisher
臺北市：國立臺灣大學應用力學研究所
Type
report
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