流场最优路径规划中的交叉口演化方法
Method of evolving junction on optimal path planning in flow fields
摘要：
针对分段恒定流场下的最优路径规划问题，提出了一种基于交叉点演化的算法。在这种流场中，在目标函数中具有凸拉格朗日函数，我们可以证明最佳轨迹必须由恒定速度运动形成。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，并采用间歇扩散法求解。该算法被证明是完备的。最后，我们用各种仿真例子证明了算法的性能。
英文摘要：
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 with a convex Lagrangian in the objective function, we can prove that the optimal trajectories must be formed by 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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
