The invention discloses a scene aircraft taxiing hybrid control method and device combining sorting and path planning, and the method comprises the following steps: 1, analyzing scene geographic information into an undirected graph structure, pre-calculating scene structure information and an initial motion mask set in combination with an undirected graph and a scene activity prohibition specification, and constructing a reinforcement learning environment; 2, real-time position information of the aircraft is obtained, and an input observation value of the scene aircraft taxiing hybrid control method is constructed in combination with scene structure information; 3, constructing a scene aircraft taxiing hybrid control model; the scene aircraft taxiing hybrid control model comprises a path planning module, a conflict detection module and a conflict scheduling module; the path planning module is realized based on a neural network, and the structure of the path planning module is a neural network composed of multiple layers of noise adaptation layer units. And the path planning module is used for taking the observation value obtained in the step 2 as input, and obtaining an action probability vector of the aircraft after neural network processing.
本申请公开了一种结合排序和路径规划的场面航空器滑行混合控制方法及装置,包括以下步骤:步骤1:将场面地理信息解析为无向图结构,并结合无向图和场面活动禁止规范预先计算场面结构信息和初始动作掩码集合,构建强化学习环境;步骤2:获取航空器实时位置信息并结合场面结构信息构造场面航空器滑行混合控制方法的输入观测值;步骤3:构建场面航空器滑行混合控制模型;场面航空器滑行混合控制模型包括路径规划模块,冲突检测模块、冲突调度模块;路径规划模块基于神经网络实现,其结构为多层噪声适应层单元组成的神经网络。路径规划模块用于将步骤2获得的观测值作为输入,经神经网络处理后得到航空器的动作概率向量。
Scene aircraft taxiing hybrid control method combining sorting and path planning
结合排序和路径规划的场面航空器滑行混合控制方法
2025-02-11
Patent
Electronic Resource
Chinese
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