Research on Path Planning Safety of Aircraft Unmanned Tractor Based on DBSCAN Algorithm
Hongbin Yu, Yuyi Ren · 2024
In response to the immature problem in the field of unmanned path planning for civil passenger aircraft, in order to improve its safety, this paper proposes obstacle avoidance optimization for the path planning algorithm of unmanned towing vehicles by drawing on the motion planning of intelligent robots in two-dimensional space. Firstly, the DBSCAN clustering algorithm is used to preprocess and optimizes map obstacles in the global path planning stage. Secondly, the A-star algorithm is selected as the base algorithm for unmanned tractor path planning, and combined with the dynamic window method for algorithm fusion, further research is conducted in obstacle avoidance. After writing the code, the verification results were obtained through MATLAB simulation experiments and a conclusion was drawn: the improved A-star algorithm in this article has a significant effect on improving the safety of unmanned tractor path planning.