Approaches to Numerical Solution of Optimal Control Problem Using Evolutionary Computations
Source abstract
Abstract
Two approaches to the numerical solution of the optimal control problem are studied. The direct approach is based on the reduction of the optimal control problem to a nonlinear programming problem. Another approach is so-called synthesized optimal control, and it includes the solution of the control synthesis problem and stabilization at some point in the state space, followed by the search of stabilization points and movement of the control object along these points. The comparison of these two approaches was carried out as the solution of the optimal control problem as a time function cannot be directly used in the control system, although the obtained discretized control can be embedded. The control object was a group of interacting mobile robots. Dynamic and static constraints were included in the quality criterion. Implemented methods were evolutionary algorithms and a random parameter search of piecewise linear approximation and coordinates of stabilization points, along with a multilayer network operator for control synthesis.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Path Planning Algorithms · Control and Dynamics of Mobile Robots · Distributed Control Multi-Agent Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Federal Research Center “Computer Science and Control”, Russian Academy of Sciences, 119333 Moscow, Russia
Department of Mechanics and Mechatronics, RUDN University, 117198 Moscow, Russia
Funding
Ministry of Science and Higher Education of the Russian Federation
References (30)
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