Abstract: In order to improve the control accuracy of path tracking for aircraft ground automatic navigation, a pure pursuit path tracking method for intelligent aircraft traction robot based on fuzzy adaptive control optimization is proposed. Firstly, a simplified two-wheel model of traction robot-aircraft is established, and the path tracking motion analysis is carried out. Based on this analysis, a path tracking controller based on adaptive fuzzy control is designed, which takes the velocity and trajectory error of traction robot-aircraft system as input and the predicted distance as output. The proposed method is validated by two simulation methods, geometry simulation and virtual prototype simulation. The results show that the path tracking error of the traction robot-aircraft system can be controlled at about 0.5 m when moving at variable speed, which fully meets the accuracy requirements of automatic traction and taxiing on the ground, and verifies the validity and adaptability of the proposed method.

Key words: aircraft tractor robot, auto control, path tracking, fuzzy control, pure pursuit algorithm

摘要： 为了提高飞机地面自动导航路径跟踪的控制精度，提出了基于模糊自适应控制的智能飞机牵引机器人纯追踪路径跟踪方法。首先建立了牵引机器人-飞机两轮简化模型，进行了路径跟踪运动分析；基于此分析，以牵引机器人-飞机系统运动速度和轨迹误差为输入，以预测距离为输出，通过模糊自适应控制实时调整纯追踪算法预测距离，设计了基于自适应模糊控制的路径跟踪控制器；通过几何仿真和虚拟样机仿真两种方法分别对所提出的方法进行了验证。结果表明，牵引机器人-飞机系统在变速运动时，路径跟踪的轨迹误差能控制在0.5 m左右，完全满足飞机地面自动牵引滑行的精度要求，验证了所提方法的有效性和适应性。

关键词: 飞机牵引机器人, 自动控制, 路径跟踪, 模糊控制, 纯追踪算法