Multi-shipboard-aircraft collaborative deck surface sliding track planning method based on centralized optimal control

The invention discloses a multi-shipboard-aircraft collaborative deck surface sliding track planning method based on centralized optimal control and belongs to the field of shipboard aircraft deck path planning technologies. According to the method, firstly, a kinematical equation is adopted to describe sliding of shipboard aircrafts on a deck, and a constraint condition of each shipboard aircraftis determined; secondly, for each active shipboard aircraft, a Dubins curve method is used for solving a shortest sliding path without considering control constraint, velocity constraint and an obstacle avoidance condition according to a boundary condition and a minimum turning radius of the shipboard aircraft; and lastly, for all the active shipboard aircrafts, a centralized optimal control problem is constructed with minimum energy being an index, and a sliding track, considering all the constraint conditions, of all the shipboard aircrafts is solved. The sliding track obtained through calculation strictly meets te