Online Motion Planning for Fixed-Wing Aircraft in Precise Automatic Landing on Mobile Platforms

This paper proposes the creative idea that an unmanned fixed-wing aircraft should automatically adjust its 3D landing trajectory online to land on a given touchdown point, instead of following pre-designed fixed glide slope angle or path composed two waypoints. A is typical under-actuated and nonholonomic constrained system, procedure—which involves complex kinematic dynamic constraints—is challenging, especially in some scenarios such as carrier, which has runway very short narrow. The conventional solution setting conservative advance controlling follow it without adjustment reference not performed satisfactorily due variation initial states widespread environmental uncertainties. motion planner shown this study can aircraft’s guide at moving point while conforming strict constraints. Such parts: one used generate series primitives conform constraints, other evaluate those choose best for execute. In paper, numerical simulations demonstrate when configuration position, altitude, direction, provide feasible guidance accurately.