| CPC B64D 39/00 (2013.01) [B25J 9/023 (2013.01); B25J 9/1666 (2013.01)] | 20 Claims |
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1. A trajectory planning system for use with a fuel-supplying aircraft (“tanker”) having a refueling boom configured to deliver aviation fuel to a fuel-receiving aircraft (“receiver”), the trajectory planning system comprising:
a human-machine interface (“HMI”) device configured to output electronic control signals; and
an electronic control unit (“ECU”) in communication with the HMI device and a plurality of sensors to output sensor data, wherein the ECU is configured, in response to the electronic control signals and the sensor data, to:
access a three-dimensional (“3D”) receiver boundary model of the receiver and a 3D boom model of the refueling boom, respectively, wherein the 3D receiver boundary model includes one or more receiver features;
calculate a boom-to-receiver (“bTr”) relative position using the 3D receiver boundary model, the 3D boom model, and the sensor data;
calculate a planned trajectory between a boom tip of the refueling boom and a receptacle of the receiver using the bTr relative position and predictive artificial potential fields (“APFs”), including:
determining a predicted distance and a predicted direction of movement of the refueling boom resulting from a net force, wherein the APFs are applied to the refueling boom as the net force;
updating a pose of the refueling boom in the 3D boom model by moving the boom tip through the predicted distance in the predicted direction;
finding a point on a baseline trajectory of the boom tip that is farthest from a straight line between the receptacle and the boom tip;
recording the point on the baseline trajectory as a temporary goal; and
shaping the planned trajectory to avoid contact between the refueling boom and the one or more receiver features; and
moving the boom tip toward the temporary goal.
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