| As one of the main combat equipment of amphibious assault ship,shipborne helicopter fleet has important practical significance to study its scheduling operation.In many dispatching schedules,the hangar-exporting schedule of shipborne helicopter fleet is a key factor affecting the efficiency of the fleet scheduling.This paper studies the optimization of the hangar-exporting schedule of shipborne helicopter fleet from two perspectives:the selection of lift operation mode and the formulation of the dispatching plan.At the same time,in order to ensure that the shipborne helicopter fleet can safely reach the target position during the scheduling process,according to the path planning algorithm and related technical theories,the path planning,collision detection,obstacle avoidance of shipborne helicopter fleet and other problems are studied.At present,in the research field of shipborne helicopter fleet scheduling simulation,the simulation system built quickly by commercial software ignores the operation state of dispatching equipment and reduces the reliability of simulation.Based on Unreal Engine4(UE4)platform and combined with virtual reality technology,a shipborne helicopter fleet scheduling simulation system is developed.In the simulation system,in this paper,the dispatching status of the shipborne helicopter fleet is observed in real time,and the optimization and simulation of the hangar-exporting scheduling and path planning of the shipborne helicopter fleet are studied.The specific research contents are as follows:(1)According to the hangar-exporting scheduling process of shipborne helicopter fleet and the influence of different transport modes of shipborne helicopter fleet on hangar-exporting scheduling.Considering take-off point number,lift operation way and hangar-exporting plan established on the basis of shipborne helicopter fleet of hangar-exporting scheduling model,designed the improved genetic algorithm,realize the take-off point number,hangar-point,the algorithm parameter conditions can quickly generate the optimal hangar-exporting scheduling scheme,model and algorithm for validation by an example.(2)The cooperative scheduling path of multiple shipborne helicopters in the case of shipborne helicopter fleet scheduling is analyzed,and the kinematic model of tractor-helicopter is constructed.The improved RRT algorithm and cubic spline interpolation curve were used to optimize the path.Interference detection and collision prediction of tractor/shipborne helicopter and tractor-helicopter are carried out by using hierarchical bounding box method and ray method.And on the basis of considering the traffic rules on the ship surface and the dynamic priority of moving objects,the obstacle avoidance strategy of shipborne helicopter fleet scheduling is designed.(3)A simulation environment for shipborne helicopter fleet scheduling was built on UE4 platform,and the motion scripts of shipborne helicopter,tractor,lift and other models were written through blueprints.Completed the development of hangar-exporting scheme formulation,resource loading,path planning and scheduling process monitoring and other functional modules.Through the simulation and analysis of the design case,the feasibility and correctness of the hangar-exporting schedule optimization model,path planning and collision detection algorithm of the shipborne helicopter fleet are verified. |
