Path Planning for Autonomous Landing of Helicopter on the Aircraft Carrier

Helicopters are introduced on the aircraft carrier to perform the tasks which are beyond the capability of fixed-wing aircraft. Unlike fixed-wing aircraft, the landing path of helicopters is not regulated and can be determined autonomously, and the path planning problem for autonomous landing of helicopters on the carrier is studied in this paper. To solve the problem, the returning flight is divided into two phases, that is, approaching the carrier and landing on the flight deck. The feature of each phase is depicted, and the conceptual model is built on this basis to provide a general frame and idea of solving the problem. In the established mathematical model, the path planning problem is formulated into an optimization problem, and the constraints are classified by the characteristics of the helicopter and the task requirements. The goal is to reduce the terminal position error and the impact between the helicopter and the flight deck. To obtain a reasonable landing path, a multiphase path planning algorithm with the pigeon inspired optimization (MPPIO) algorithm is proposed to adapt to the changing environment. Three experiments under different situations, that is, static carrier, only horizontal motion of carrier considered, and 3D motion of carrier considered, are conducted. The results demonstrate that the helicopters can all reach the ideal landing point with the reasonable path in different situations. The small terminal error and relatively vertical motion between the helicopter and the carrier ensure a precise and safe landing