论文标题
符号最佳控制的车辆任务指导
Vehicle mission guidance by symbolic optimal control
论文作者
论文摘要
符号最佳控制是一种合成非线性植物的算法算法状态反馈控制器的强大方法。相对于给定的成本函数，它的解决方案（接近）是最佳的。在本说明中，可以证明如何使用符号最佳控制来计算控制器，以在连续状态空间中对车辆系统的优化路由指导。实际上，研究了电容的车辆路由问题和旅行推销员问题的变体。在任务过程中，后一个问题具有相关的应用。作为示例，提供了分别涉及自行车和飞机动态的商品交付方案和侦察任务。
Symbolic optimal control is a powerful method to synthesize algorithmically correct-by-design state-feedback controllers for nonlinear plants. Its solutions are (near-)optimal with respect to a given cost function. In this note, it is demonstrated how symbolic optimal control can be used to calculate controllers for an optimized routing guidance of vehicle systems in continuous state space. In fact, the capacitated vehicle routing problem and a variant of travelling salesman problem are investigated. The latter problem has a relevant application in case of loss of vehicles during mission. A goods delivery scenario and a reconnaissance mission, involving bicycle and aircraft dynamics respectively, are provided as examples.
