23 wang y j, lane d m . solving a generalized constrained optimization problem with both logic and and or relationships by a mathematical transformation and its application to robot path planning . ieee trans . systems, man and cybernetics, part c : application and reviews, 2000, 30 : 525-536 传统的方法都没有突破一个关键概念,即cspace空间障碍物的概念,因此也无法克服概念本身所带来的弊端,本论文与以前的工作结合在一起形成了一套独特的理论体系,避免了cspace空间障碍物的计算,克服了机器人路径规划传统方法诸多难以克服的问题,具有重要的理论和实际意义。
To circumvent the non-differentiable difficulty caused by the positive homogeneously function that is involved in an equivalent unconstrained formulation for general inequality constrained optimization problems, we turn to the classical lagrangian function and redefine m ( x ) by a conic optimization problem with the lagrangian as the objective function 为了克服不可微正齐次函数(?|r_-~m)给约束优化问题的等价无约束形式求解带来的困难,我们将其目标函数m(x)重新用一个以经典拉格朗日函数为目标的锥优化问题来表示。
The parameter control methods are very similar to penalty function methods, both of them are to solve constrained optimization problems by solving a series of sub-unconstrained optimization problems . but parameter control methods are different from penalty function methods . firstly, the penalty coefficient of penalty function methods are preassigned, while the parameters of parameter control methodsare generated automatically according to some rule prescribed 参数控制算法虽然与罚函数法非常类似,都是通过求解一系列无约束极小化问题来逼近约束优化问题的最优解,但罚函数法中的罚因子是预先设定的,而参数控制算法中的参数是自动产生的。
Motivated by the practical requirements of robot path planning, a generalized constrained optimization problem gcop with not only logic and but also logic or relationships was proposed and a mathematical solution developed previously . this paper inherits the fundamental ideas of inequality and optimization techniques from the previous work, converts the obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of the mathematical transformation, and proposes a direct path planning approach without cspace calculation, which is quite different from traditional methods . to show its merits, simulation results in 3d space have been presented 他们在早期的系列研究中:1提出了更一般的非线性优化问题generalizedconstrainedoptimizationproblem,简称gcop,即约束间的逻辑关系不但有“与and”的关系,而且还有“或or”的关系,并给出了在实际应用中可行的数学求解方法2利用了计算机图形学中的constructivesolidgeometrycsg方法来构建障碍物的不等式表述3将计算机cad中的插值方法与优化理论结合半无穷维优化,克服了路径规划问题中的局部最小值问题。
Motivated by the practical requirements of robot path planning, a generalized constrained optimization problem gcop with not only logic and but also logic or relationships was proposed and a mathematical solution developed previously . this paper inherits the fundamental ideas of inequality and optimization techniques from the previous work, converts the obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of the mathematical transformation, and proposes a direct path planning approach without cspace calculation, which is quite different from traditional methods . to show its merits, simulation results in 3d space have been presented 他们在早期的系列研究中:1提出了更一般的非线性优化问题generalizedconstrainedoptimizationproblem,简称gcop,即约束间的逻辑关系不但有“与and”的关系,而且还有“或or”的关系,并给出了在实际应用中可行的数学求解方法2利用了计算机图形学中的constructivesolidgeometrycsg方法来构建障碍物的不等式表述3将计算机cad中的插值方法与优化理论结合半无穷维优化,克服了路径规划问题中的局部最小值问题。
In the third chapter we discuss lc1 constrained optimization problem . to solve it, we turn it into nonsmooth equations, utilizing inexact theory we give an inexact generalized newton's method and under some mild conditions we prove that it is global convergence and superlinear convergence 首先将其约束问题的求解转化为非光滑方程组的求解,然后利用不完全求解理论给出了一个非精确的广义牛顿算法,在一定的条件下证明了算法的全局收敛性和局部超线性收敛性并给出了lc~1非线性约束问题的收敛性条件。
In chapter 5, the authors study the convergence properties of the gradient projection method for the constrained optimization problem . in this chapter, a new step-size rule, which avoids fulfiling the classical line search and includes choosing a constant as the step size as a special case, is presented and analyzed 第五章研究了求解约束最优化问题的梯度投影方法,在步长的选取时采用了一种新的策略,这种策略不需要进行传统的线搜索且包含步长取常数这种特例,在较弱的条件下,证明了梯度投影方法的全局收敛性。
The first part comprises industrial pta oxidation process modeling, residual fluid catalytic cracking process modeling, complex distillation modeling and analysis, the application of pta oxidation process soft-sensor technology . in the second one, the infeasibility degree based genetic algorithm is proposed to handle constrained optimization problem in engineering cases and the neighborhood and archive based genetic algorithm and its variant are proposed to treat the multi-objective optimization problem . with that, the pta oxidation process is regarded as a benchmark for the application of the proposed multi-objective optimization genetic algorithm 论文内容分为两部分,第一部分对包括三个典型的工业过程,pta氧化反应器、渣油催化裂化反应系统和复合式精馏塔进行分析、建模以及pta氧化过程的软测量工程实施;第二部分分别提出了基于进化算法解决工业过程中普遍存在的约束优化问题和多目标优化问题的过程优化算法??基于不可行度选择遗传算法和基于邻域和存档操作遗传算法,并利用该算法对工业pta氧化过程操作进行多目标优化研究。
The penalty function method first change the optimization problem with constraints to no constraint problem then solve the no constrains optimization problems using hooke-jeeves direct search method . the above method only use the dynamic analysis result together with penalty function method to solve the multibody desigen optimization problems, and separate the process of dynamic analysis and design optimization, so it is more common 由于该方法是将约束优化问题转化为无约束优化问题,针对无约束优化问题,本文采用通用的hooke-jeeves直接探索优化方法,有效的实现了多体系统动力学分析与优化设计的分离,从而具有通用性。