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Numerical mixed-integer optimal control and motorized traveling salesmen problems

Stryk, Oskar von and Glocker, M. and Stryk, Oskar von (2001):
Numerical mixed-integer optimal control and motorized traveling salesmen problems.
35, In: APII-JESA (Journal europeen des systemes automatises - European Journal of Control), (4), p. 519, [Article]

Abstract

A general approach for the numerical solution of hybrid, mixed-integer optimal control problems is presented. In an outer level iteration a branch-and-bound procedure is applied to search the entire feasible discrete variable space. An inner level iteration contains for each actual value of the discrete variable a continuous nonlinear optimal control problem with its nonlinear dynamics defined in multiple phases and phase transitions occuring at unknown switching points (events) which must be solved numerically subject to nonlinear constraints. For this purpose, a robust and efficient direct collocation method is employed that parameterizes both the continuous state and control variables and exploits the sparse structure in the resulting nonlinearly constrained optimization problems. The proposed approach is successfully applied to two new hybrid optimal control benchmark problems for a motorized traveling salesman and for a team of two cooperating, motorized salesmen.

Item Type: Article
Erschienen: 2001
Creators: Stryk, Oskar von and Glocker, M. and Stryk, Oskar von
Title: Numerical mixed-integer optimal control and motorized traveling salesmen problems
Language: German
Abstract:

A general approach for the numerical solution of hybrid, mixed-integer optimal control problems is presented. In an outer level iteration a branch-and-bound procedure is applied to search the entire feasible discrete variable space. An inner level iteration contains for each actual value of the discrete variable a continuous nonlinear optimal control problem with its nonlinear dynamics defined in multiple phases and phase transitions occuring at unknown switching points (events) which must be solved numerically subject to nonlinear constraints. For this purpose, a robust and efficient direct collocation method is employed that parameterizes both the continuous state and control variables and exploits the sparse structure in the resulting nonlinearly constrained optimization problems. The proposed approach is successfully applied to two new hybrid optimal control benchmark problems for a motorized traveling salesman and for a team of two cooperating, motorized salesmen.

Journal or Publication Title: APII-JESA (Journal europeen des systemes automatises - European Journal of Control)
Volume: 35
Number: 4
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: vonStrykGlocker:2001
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