Method of evolving junction on optimal path planning in flows fields
Method of evolving junction on optimal path planning in flows fields
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DOI：
10.1007/s10514-022-10058-5
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发表时间：
2019-04
影响因子：
3.5
通讯作者：
Haoyan Zhai;Mengxue Hou;Fumin Zhang;Haomin Zhou
中科院分区：
文献类型：
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作者：
Haoyan Zhai;Mengxue Hou;Fumin Zhang;Haomin Zhou
我们提出了一种使用演化路口方法来解决分段恒定流场的最优路径规划问题的算法。在这样的流场中，我们证明相对于目标函数中的凸拉格朗日函数，最佳轨迹必须由分段等速运动形成。利用这一性质，我们将无限维最优控制问题转化为有限维优化问题，并使用间歇扩散来解决问题。证明该算法是完整的。最后，我们通过各种仿真例子展示了算法的性能。
We propose an algorithm using method of evolving junctions to solve the optimal path planning problems with piece-wise constant flow fields. In such flow fields, we prove that the optimal trajectories, with respect to a convex Lagrangian in the objective function, must be formed by piece-wise constant velocity motions. Taking advantage of this property, we transform the infinite dimensional optimal control problem into a finite dimensional optimization and use intermittent diffusion to solve the problems. The algorithm is proven to be complete. At last, we demonstrate the performance of the algorithm with various simulation examples.