Simulation of the Autonomous Curvilinear Motion of a Robotic Aircraft Towing System

摘要

A mathematical model of a robotic aircraft towing system and a method for planning motion paths have been developed. An algorithm for the control of the joint motion of the robotic mobile towing vehicle and aircraft based on deviation from the specified path has been created. The simulation shows that the suggested algorithm for designing motion paths and modelling the motion of the robotic towing airfield system makes it possible to ensure towing of aircraft along a specified path with a given accuracy.