基于切换拓扑的场道除冰雪群协同编队模型  

Cooperative formation control of field de-icing group based on switching topology

作　　者：邢志伟 王奎 罗谦[2] XING Zhi-wei;WANG Kui;LUO Qian(College of Electronic Information and Automation,Civil Aviation University of China,Tianjin 300300,China;Engineering Technology Research Center,The Second Research Institute of Civil Aviation Administration of China,Chengdu 610041,China)

机构地区：[1]中国民航大学电子信息与自动化学院,天津300300 [2]中国民用航空总局第二研究所工程技术研究中心,四川成都610041

出　　处：《计算机工程与设计》2025年第2期617-625,共9页Computer Engineering and Design

基　　金：国家重点研发计划基金项目(2018YFB1601200);中央高校基本科研业务费基金项目(3122023006);中国民航大学科研创新基金项目(2022YJS022)。

摘　　要：针对当前机场道面除冰雪作业生成的不完备性以及编队通信拓扑交互的单一性,提出一种具有通信拓扑规划的机场道面除冰雪群协同编队模型。利用时间约束以及作业行为网络建立机场道面除冰雪作业网络模型,获取最优的除冰雪作业方案;加入基于领导者平移编队的控制决策,考虑一种改进的切换拓扑网络下的领导者编队模型,提升除冰雪车辆编队作业协同效率。仿真结果表明,在有限时间内,除冰雪车辆编队能够在指定动态领导者领航下,实现动态异步通信下切换拓扑的一致性,生成具有队形约束的除冰雪群编队;相较于传统的集中式领导者编队,切换拓扑下的编队通信性能更为优越。Aiming at the incompleteness of the current airport pavement de-icing operation and the singleness of the formation communication topology interaction,a cooperative formation model of airport pavement de-icing group with communication topo-logy planning was proposed.The time constraint and operation behavior network were used to establish the airport pavement de-icing operation network model,and the optimal de-icing operation scheme was obtained.The control decision based on the leader’s translation formation was added,and an improved leader formation model under the switching topology network was considered to improve the cooperative efficiency of the ice and snow removal vehicle formation operation.The simulation results show that in a limited time,the formation of deicing vehicles can achieve the consistency of switching topology in dynamic asynch-ronous communication under the guidance of specified dynamic leaders,and generate the formation of deicing group with formation constraints.Compared with the traditional centralized leader formation,the formation communication performance under the switching topology is more superior.

关 键 词：机场道面除冰雪 除冰雪作业模型 切换拓扑 领导者跟随者法 异步通信 编队协同控制 平移编队 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]