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An exact penalty function method for optimal control of a dubins airplane in the presence of moving obstacles
Optimization Letters ( IF 1.3 ) Pub Date : 2021-07-01 , DOI: 10.1007/s11590-021-01773-6
Z. Fathi , B. Bidabad , M. Najafpour

In this article, we obtain controls that give the time-optimal trajectories for a Dubins airplane in the presence of fixed and moving obstacles. Using an exact penalty function method, we show the existence of the control variable for a Dubins airplane with given initial and final positions so that the airplane could reach its destination in the shortest time while avoiding fixed and moving obstacles. We demonstrate the effectiveness of our method by three examples.



中文翻译:

存在移动障碍物的杜宾斯飞机最优控制的精确惩罚函数方法

在本文中,我们获得了在存在固定和移动障碍物的情况下为 Dubins 飞机提供最佳时间轨迹的控制。使用精确的惩罚函数方法,我们展示了具有给定初始和最终位置的 Dubins 飞机的控制变量的存在,以便飞机可以在最短的时间内到达目的地,同时避开固定和移动的障碍物。我们通过三个例子证明了我们方法的有效性。

更新日期:2021-07-02
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