Vehicle mission guidance by symbolic optimal control

Autor:	Weber, Alexander, Fiege, Florian, Knoll, Alexander
Rok vydání:	2022
Předmět:	Mathematics - Optimization and Control Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control 49M25 (Primary) 49N35 93C10 93C30 93C55 93C57 90C27 (Secondary)
Druh dokumentu:	Working Paper
Popis:	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. Comment: 7 pages, 5 figures. To be published in: Proc. European Control Conference (ECC), 2022
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2205.14085 Zobrazit plný text záznamu View this record from Arxiv