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The towbarless aircraft taxiing system (TLATS) consists of the towbarless towing vehicle (TLTV) and the aircraft, of which the nose wheel is lifted and fixed by the picking up and holding system of the TLTV. The aircraft is towed to the destination in a long distance with a high speed of about 40 km/h only driven by the TLTV, which has the advantages of efficiency and economy by comparing with the traditional towing operation at a low speed of 5 km/h and with a short towing distance of about 50 m. However, the increase of the towing velocity leads to an deteriorate vibration problem in terms of the uncomfortable of the driver and reduction of the structure safe life limit, due to the lack of the chassis suspension for the vibration isolation of the TLTV. Therefore, the air suspension is introduced to the TLTV to alleviate the vibration. The dynamic model of the TLATS with air suspensions is derived.

The towbarless aircraft taxiing system (TLATS) consists of the towbarless towing vehicle (TLTV) and the aircraft. The tractor realizes the towing work by fixing the nose wheel. During the towing process, the tractor driver may cause the aircraft to collide with an obstacle because of the blind spot of vision leading to the accident. The special characteristics of aircraft do not allow us to modify the structure of the aircraft to achieve collision avoidance. In this paper, three degrees of freedom (DOE) kinematic model of the tractor system is established for each of the two cases of pushing and pulling the aircraft, and the relationship between the coordinates of each danger point and the relatively articulated angle of the TLATS and the velocity of the midpoint of the rear axle is derived.