飞行器与机器人的区域目标搜索最优控制

Optimal Control of District Search for Aircraft or Mobile Robot

描述了飞行器导航或移动机器人的区域搜索控制问题。为了使该问题得到优化解决,首先建立了基于区域搜索控制问题的模型,将最优控制原理运用于此模型上,得到其伴随方程和控制方程,后基于此分析了该问题,且讨论了此方法的可行性。然后,通过解出问题的规范方程,使飞行器导航或移动机器人的区域搜索控制问题最终得以解决,进而推导得到了飞行器导航或移动机器人的区域目标搜索最优控制以及最优轨线。最后,通过计算仿真结果表明,该方法是有效的,故为飞行器导航与移动机器人的区域目标搜索最优控制提供了依据。

The paper describes the optimal control of district search for an aircraft or robot. In order to solve the problem optimally, firstly, the control model of district search is built, Based on the principles of optimal control, t concomitant equation and control equation are got. Besides it , the problem is analyzed feasibly. Secondly, the control of district search and the optimal trajectory are obtained from the law of the optimal control by solving the problem＇ s normative equation. At the end, the result of simulation indicates that the optimal control of district search is effective for aircrafts and robots.