python - Gekko(python) 用于单圈时间优化

Question

我想知道使用 Gekko 解决单圈时间优化是否是个好主意：通过控制转向角和功率输出来找到赛道上的最佳路径以最小化总时间。

我对最优控制问题相当陌生，所以如果你有关于如何开始的指示，那就太好了。谢谢

标签： pythoncontrolspidgekko

Answer 1

The bicycle optimal trajectory problem is possible in Gekko. I recommend that you start by working out simple benchmark problems and then take a staged approach (1D to 3D) to building your application. Also, if the authors are willing to share their model, it is often easier to replicate and extend their results. Here are some links to help you get started or see what is possible with a complex trajectory optimization problem (HALE aircraft).

Example problems

• Introductory Optimal Control Benchmark Problems with the minimized final time.

• Energy optimization for HALE aircraft trajectory optimization (source code).

• Inverted Pendulum

There is also the machine learning and dynamic optimization course that is freely available online if you need additional help getting started.