Aiming at the time delay of the current airport runway snow removal group formation operation, a cooperative control decision of the unmanned runway snow removal group affine formation is constructed. Using the constraints of runway snow removal collaborative operation, combined with the runway condition code, and considering the actual snow removal operation time requirements, the runway snow removal group collaborative operation model is constructed. The affine formation based on the sign Laplacian matrix is adopted, and the actual runway snow removal intention is applied to construct the generation formation control and herringbone affine formation planning, so as to realize the timeliness of unmanned snow removal vehicle formation coordination under the control of snow removal intention. The experimental results show that the affine formation of unmanned snow removal vehicles can achieve consistency within a limited time at a limited speed, and realize the herringbone affine formation and formation transformation through related intention control. Compared with the traditional centralized formation, the unmanned affine formation improves the efficiency of snow removal to a certain extent.
Research on Cooperative Formation Operation of Unmanned Snow Removal Vehicles on Airport Runway
14.06.2024
501181 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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