基于改进GA 的多机舰面转运规划

针对复杂环境下的多舰载机舰面同时转运避碰规划问题，提出基于遗传算法的路径规划方法。分析多机 同时转运问题，设计目标函数和约束条件；建立舰载机碰撞检测计算公式、基于交通规则的等停策略和重规划策略、 非均匀有理B 样条(non-uniform ration B-spline，NURBS)平滑策略；通过遗传算法对不同数量舰载机同时转运场景 进行仿真。仿真试验结果表明：该方法在复杂环境下能有效规划出转运路径，可靠性好、适航性强，能为多机舰面 同时转运提供科学有效的决策方法。

Multi-aircraft Shipboard Transfer Planning Based on Improved Genetic Algorithm

A genetic algorithm based path planning method is proposed to solve the collision avoidance planning problem of multiple carrier-based aircrafts in complex environment. The problem of multi-machine simultaneous transshipment is analyzed, and the objective function and constraints are designed; the calculation formula of carrier-based aircraft collision detection, the stop-waiting strategy and re-planning strategy based on traffic rules, and the non-uniform ration B spline (NURBS) smoothing strategy are established; the simultaneous transfer scenarios of different numbers of carrier-based aircraft are simulated by genetic algorithm. The simulation results show that the method can effectively plan the transfer path in the complex environment with good reliability and airworthiness, and can provide a scientific and effective decision-making method for the multi-aircraft shipboard simultaneous transfer.