Optimal Control of Sweeping Processes in Robotics and Traffic Flow Models
Optimal Control of Sweeping Processes in Robotics and Traffic Flow Models
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DOI：
10.1007/s10957-019-01521-y
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发表时间：
2018-11
影响因子：
1.9
通讯作者：
G. Colombo;B. Mordukhovich;N. Hoang
中科院分区：
文献类型：
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作者：
G. Colombo;B. Mordukhovich;N. Hoang
本文主要研究了一种新的摄动扫/莫罗过程最优控制理论在两种实际动力学模型中的应用。第一个模型解决了移动机器人的动力学障碍，第二个模型涉及交通流的控制和优化。将这些模型描述为具有点/硬控制和状态约束的受控横扫过程，并为此类系统应用新的必要最优性条件，使我们能够开发有效的程序来解决所考虑的模型的自然制定的最优控制问题，并在特定情况下完全计算最优解。
The paper is mostly devoted to applications of a novel optimal control theory for perturbed sweeping/Moreau processes to two practical dynamical models. The first model addresses mobile robot dynamics with obstacles, and the second one concerns control and optimization of traffic flows. Describing these models as controlled sweeping processes with pointwise/hard control and state constraints and applying new necessary optimality conditions for such systems allow us to develop efficient procedures to solve naturally formulated optimal control problems for the models under consideration and completely calculate optimal solutions in particular situations.