Coordinated taxiing planning for multiple aircraft on flight deck is of vital importance which can dramatically improve the dispatching efficiency. In this paper, first, the coordinated taxiing path planning problem is transformed into a centralized optimal control problem where collision-free conditions and mechanical limits are considered. Since the formulated optimal control problem is of large state space and highly nonlinear, an efficient hierarchical initialization technique based on the Dubins-curve method is proposed. Then, a model predictive controller is designed to track the obtained reference trajectory in the presence of initial state error and external disturbances. Numerical experiments demonstrate that the proposed “offline planning + online tracking” framework can achieve efficient and robust coordinated taxiing planning and tracking even in the presence of initial state error and continuous external disturbances.

飞行甲板上多架飞机的协调滑行规划至关重要，可以显着提高调度效率。在本文中，首先将协调滑行路径规划问题转化为考虑无碰撞条件和机械限制的集中优化控制问题。针对所制定的最优控制问题具有较大的状态空间和高度非线性，提出了一种基于Dubins曲线方法的高效分层初始化技术。然后，设计了一个模型预测控制器，以在存在初始状态误差和外部干扰的情况下跟踪获得的参考轨迹。