Trajectory Planning and Tracking for Carrier Aircraft-Tractor System Based on Autonomous and Cooperative Movement

Table 4

Parameters for ship obstacle.

Station name	x (m)	y (m)	Direction angle (°)	Wing condition
A2	−5.500	−14.500	90	Folded wings
A3	−23.502	−13.031	90	Spread wings
A11	−76.526	32.360	342	Folded wings
Z5	−44.001	−14.500	90	Spread wings
H4	−30.328	22.999	0	Folded wings
A12	−97.526	29.861	340	Folded wings