Complex-shaped object path planning algorithm with kinematics and terminal pose constraints

In this paper, a carrier-based aircraft with complex shape on an aircraft carrier deck is chosen as a path planning object and a planning approach with kinematics and terminal attitude constraints is developed. This approach employs an improved genetic algorithm to acquire an optimal track. During the path coding process, the attitude angle of the object is introduced, thus the search space for the feasible paths is extended from two-dimension to three-dimension. In the path decoding phase, a three-section method is proposed to achieve the path restoration. The object is described with a convex polygon, resulting that the collision detection method using the path bounding box is improved. The simulation results indicate an optimal path can be obtained in this method, which is also applicable to other complex planning situations with kinematics and attitude constraints.