二次规划(QP)样条路径优化
Tip: 为了更好的展示本文档中的等式,我们建议使用者使用带有插件的Chrome浏览器,或者将Latex等式拷贝到在线编辑公式网站进行浏览。
二次规划(QP)+样条插值
- 目标函数
1.1 获得路径长度
路径定义在station-lateral坐标系中。s的变化区间为从车辆当前位置点到默认路径的长度。
1.2 获得样条段
将路径划分为n段,每段路径用一个多项式来表示。
1.3 定义样条段函数
每个样条段 i 都有沿着参考线的累加距离di。每段的路径默认用5介多项式表示。
l
=
f
i
(
s
)
=
a
i
0
+
a
i
1
⋅
s
+
a
i
2
⋅
s
2
+
a
i
3
⋅
s
3
+
a
i
4
⋅
s
4
+
a
i
5
⋅
s
5
(
0
≤
s
≤
d
i
)
l = f_i(s) = a_{i0} + a_{i1} \cdot s + a_{i2} \cdot s^2 + a_{i3} \cdot s^3 + a_{i4} \cdot s^4 + a_{i5} \cdot s^5 (0 \leq s \leq d_{i})
l=fi(s)=ai0+ai1⋅s+ai2⋅s2+ai3⋅s3+ai4⋅s4+ai5⋅s5(0≤s≤di)
1.4 定义每个样条段优化目标函数
c
o
s
t
=
∑
i
=
1
n
(
w
1
⋅
∫
0
d
i
(
f
i
′
)
2
(
s
)
d
s
+
w
2
⋅
∫
0
d
i
(
f
i
′
′
)
2
(
s
)
d
s
+
w
3
⋅
∫
0
d
i
(
f
i
′
′
′
)
2
(
s
)
d
s
)
cost = \sum_{i=1}^{n} \Big( w_1 \cdot \int\limits_{0}^{d_i} (f_i')^2(s) ds + w_2 \cdot \int\limits_{0}^{d_i} (f_i'')^2(s) ds + w_3 \cdot \int\limits_{0}^{d_i} (f_i^{\prime\prime\prime})^2(s) ds \Big)
cost=i=1∑n(w1⋅0∫di(fi′)2(s)ds+w2⋅0∫di(fi′′)2(s)ds+w3⋅0∫di(fi′′′)2(s)ds)
1.5 将开销(cost)函数转换为QP公式
QP公式:
m
i
n
i
m
i
z
e
1
2
⋅
x
T
⋅
H
⋅
x
+
f
T
⋅
x
s
.
t
.
L
B
≤
x
≤
U
B
A
e
q
x
=
b
e
q
A
x
≥
b
\begin{aligned} minimize & \frac{1}{2} \cdot x^T \cdot H \cdot x + f^T \cdot x \\ s.t. \qquad & LB \leq x \leq UB \\ & A_{eq}x = b_{eq} \\ & Ax \geq b \end{aligned}
minimizes.t.21⋅xT⋅H⋅x+fT⋅xLB≤x≤UBAeqx=beqAx≥b
下面是将开销(cost)函数转换为QP公式的例子:
f
i
(
s
)
=
∣
1
s
s
2
s
3
s
4
s
5
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
f_i(s) = \begin{vmatrix} 1 & s & s^2 & s^3 & s^4 & s^5 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix}
fi(s)=∣∣1ss2s3s4s5∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣
且
f
i
′
(
s
)
=
∣
0
1
2
s
3
s
2
4
s
3
5
s
4
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
f_i'(s) = \begin{vmatrix} 0 & 1 & 2s & 3s^2 & 4s^3 & 5s^4 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix}
fi′(s)=∣∣012s3s24s35s4∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣
且
f
i
′
(
s
)
2
=
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
⋅
∣
0
1
2
s
3
s
2
4
s
3
5
s
4
∣
⋅
∣
0
1
2
s
3
s
2
4
s
3
5
s
4
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
f_i'(s)^2 = \begin{vmatrix} a_{i0} & a_{i1} & a_{i2} & a_{i3} & a_{i4} & a_{i5} \end{vmatrix} \cdot \begin{vmatrix} 0 \\ 1 \\ 2s \\ 3s^2 \\ 4s^3 \\ 5s^4 \end{vmatrix} \cdot \begin{vmatrix} 0 & 1 & 2s & 3s^2 & 4s^3 & 5s^4 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix}
fi′(s)2=∣∣ai0ai1ai2ai3ai4ai5∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣012s3s24s35s4∣∣∣∣∣∣∣∣∣∣∣∣⋅∣∣012s3s24s35s4∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣
然后得到,
∫
0
d
i
f
i
′
(
s
)
2
d
s
=
∫
0
d
i
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
⋅
∣
0
1
2
s
3
s
2
4
s
3
5
s
4
∣
⋅
∣
0
1
2
s
3
s
2
4
s
3
5
s
4
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
d
s
\int\limits_{0}^{d_i} f_i'(s)^2 ds = \int\limits_{0}^{d_i} \begin{vmatrix} a_{i0} & a_{i1} & a_{i2} & a_{i3} & a_{i4} & a_{i5} \end{vmatrix} \cdot \begin{vmatrix} 0 \\ 1 \\ 2s \\ 3s^2 \\ 4s^3 \\ 5s^4 \end{vmatrix} \cdot \begin{vmatrix} 0 & 1 & 2s & 3s^2 & 4s^3 & 5s^4 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix} ds
0∫difi′(s)2ds=0∫di∣∣ai0ai1ai2ai3ai4ai5∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣012s3s24s35s4∣∣∣∣∣∣∣∣∣∣∣∣⋅∣∣012s3s24s35s4∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣ds
从聚合函数中提取出常量得到,
∫
0
d
i
f
′
(
s
)
2
d
s
=
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
⋅
∫
0
d
i
∣
0
1
2
s
3
s
2
4
s
3
5
s
4
∣
⋅
∣
0
1
2
s
3
s
2
4
s
3
5
s
4
∣
d
s
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
\int\limits_{0}^{d_i} f'(s)^2 ds = \begin{vmatrix} a_{i0} & a_{i1} & a_{i2} & a_{i3} & a_{i4} & a_{i5} \end{vmatrix} \cdot \int\limits_{0}^{d_i} \begin{vmatrix} 0 \\ 1 \\ 2s \\ 3s^2 \\ 4s^3 \\ 5s^4 \end{vmatrix} \cdot \begin{vmatrix} 0 & 1 & 2s & 3s^2 & 4s^3 & 5s^4 \end{vmatrix} ds \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix}
0∫dif′(s)2ds=∣∣ai0ai1ai2ai3ai4ai5∣∣⋅0∫di∣∣∣∣∣∣∣∣∣∣∣∣012s3s24s35s4∣∣∣∣∣∣∣∣∣∣∣∣⋅∣∣012s3s24s35s4∣∣ds⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣
=
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
⋅
∫
0
d
i
∣
0
0
0
0
0
0
0
1
2
s
3
s
2
4
s
3
5
s
4
0
2
s
4
s
2
6
s
3
8
s
4
10
s
5
0
3
s
2
6
s
3
9
s
4
12
s
5
15
s
6
0
4
s
3
8
s
4
12
s
5
16
s
6
20
s
7
0
5
s
4
10
s
5
15
s
6
20
s
7
25
s
8
∣
d
s
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
=\begin{vmatrix} a_{i0} & a_{i1} & a_{i2} & a_{i3} & a_{i4} & a_{i5} \end{vmatrix} \cdot \int\limits_{0}^{d_i} \begin{vmatrix} 0 & 0 &0&0&0&0\\ 0 & 1 & 2s & 3s^2 & 4s^3 & 5s^4\\ 0 & 2s & 4s^2 & 6s^3 & 8s^4 & 10s^5\\ 0 & 3s^2 & 6s^3 & 9s^4 & 12s^5&15s^6 \\ 0 & 4s^3 & 8s^4 &12s^5 &16s^6&20s^7 \\ 0 & 5s^4 & 10s^5 & 15s^6 & 20s^7 & 25s^8 \end{vmatrix} ds \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix}
=∣∣ai0ai1ai2ai3ai4ai5∣∣⋅0∫di∣∣∣∣∣∣∣∣∣∣∣∣000000012s3s24s35s402s4s26s38s410s503s26s39s412s515s604s38s412s516s620s705s410s515s620s725s8∣∣∣∣∣∣∣∣∣∣∣∣ds⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣
最后得到,
∫
0
d
i
f
i
′
(
s
)
2
d
s
=
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
⋅
∣
0
0
0
0
0
0
0
d
i
d
i
2
d
i
3
d
i
4
d
i
5
0
d
i
2
4
3
d
i
3
6
4
d
i
4
8
5
d
i
5
10
6
d
i
6
0
d
i
3
6
4
d
i
4
9
5
d
i
5
12
6
d
i
6
15
7
d
i
7
0
d
i
4
8
5
d
i
5
12
6
d
i
6
16
7
d
i
7
20
8
d
i
8
0
d
i
5
10
6
d
i
6
15
7
d
i
7
20
8
d
i
8
25
9
d
i
9
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
\int\limits_{0}^{d_i} f'_i(s)^2 ds =\begin{vmatrix} a_{i0} & a_{i1} & a_{i2} & a_{i3} & a_{i4} & a_{i5} \end{vmatrix} \cdot \begin{vmatrix} 0 & 0 & 0 & 0 &0&0\\ 0 & d_i & d_i^2 & d_i^3 & d_i^4&d_i^5\\ 0& d_i^2 & \frac{4}{3}d_i^3& \frac{6}{4}d_i^4 & \frac{8}{5}d_i^5&\frac{10}{6}d_i^6\\ 0& d_i^3 & \frac{6}{4}d_i^4 & \frac{9}{5}d_i^5 & \frac{12}{6}d_i^6&\frac{15}{7}d_i^7\\ 0& d_i^4 & \frac{8}{5}d_i^5 & \frac{12}{6}d_i^6 & \frac{16}{7}d_i^7&\frac{20}{8}d_i^8\\ 0& d_i^5 & \frac{10}{6}d_i^6 & \frac{15}{7}d_i^7 & \frac{20}{8}d_i^8&\frac{25}{9}d_i^9 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix}
0∫difi′(s)2ds=∣∣ai0ai1ai2ai3ai4ai5∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣0000000didi2di3di4di50di234di346di458di5610di60di346di459di5612di6715di70di458di5612di6716di7820di80di5610di6715di7820di8925di9∣∣∣∣∣∣∣∣∣∣∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣
请注意我们最后得到一个6介的矩阵来表示5介样条插值的衍生开销。 应用同样的推理方法可以得到2介,3介样条插值的衍生开销。
2 约束条件
2.1 初始点约束
假设第一个点为 (s0, l0), (s0, l′0) and (s0, l′′0),其中l0 , l′0 and l′′0表示横向的偏移,并且规划路径的起始点的第一,第二个点的衍生开销可以从fi(s), f′i(s), fi(s)′′计算得到。
将上述约束转换为QP约束等式,使用等式:
A
e
q
x
=
b
e
q
A_{eq}x = b_{eq}
Aeqx=beq
下面是转换的具体步骤:
f
i
(
s
0
)
=
∣
1
s
0
s
0
2
s
0
3
s
0
4
s
0
5
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
=
l
0
f_i(s_0) = \begin{vmatrix} 1 & s_0 & s_0^2 & s_0^3 & s_0^4&s_0^5 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5}\end{vmatrix} = l_0
fi(s0)=∣∣1s0s02s03s04s05∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣=l0
且
f
i
′
(
s
0
)
=
∣
0
1
2
s
0
3
s
0
2
4
s
0
3
5
s
0
4
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
=
l
0
′
f'_i(s_0) = \begin{vmatrix} 0& 1 & 2s_0 & 3s_0^2 & 4s_0^3 &5 s_0^4 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix} = l'_0
fi′(s0)=∣∣012s03s024s035s04∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣=l0′
且
f
i
′
′
(
s
0
)
=
∣
0
0
2
3
×
2
s
0
4
×
3
s
0
2
5
×
4
s
0
3
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
=
l
0
′
′
f''_i(s_0) = \begin{vmatrix} 0&0& 2 & 3\times2s_0 & 4\times3s_0^2 & 5\times4s_0^3 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix} = l''_0
fi′′(s0)=∣∣0023×2s04×3s025×4s03∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣=l0′′
其中,i是包含s0的样条段的索引值。
2.2 终点约束
和起始点相同,终点(se,le) 也应当按照起始点的计算方法生成约束条件。
将起始点和终点组合在一起,得出约束等式为:
∣
1
s
0
s
0
2
s
0
3
s
0
4
s
0
5
0
1
2
s
0
3
s
0
2
4
s
0
3
5
s
0
4
0
0
2
3
×
2
s
0
4
×
3
s
0
2
5
×
4
s
0
3
1
s
e
s
e
2
s
e
3
s
e
4
s
e
5
0
1
2
s
e
3
s
e
2
4
s
e
3
5
s
e
4
0
0
2
3
×
2
s
e
4
×
3
s
e
2
5
×
4
s
e
3
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
=
∣
l
0
l
0
′
l
0
′
′
l
e
l
e
′
l
e
′
′
∣
\begin{vmatrix} 1 & s_0 & s_0^2 & s_0^3 & s_0^4&s_0^5 \\ 0&1 & 2s_0 & 3s_0^2 & 4s_0^3 & 5s_0^4 \\ 0& 0&2 & 3\times2s_0 & 4\times3s_0^2 & 5\times4s_0^3 \\ 1 & s_e & s_e^2 & s_e^3 & s_e^4&s_e^5 \\ 0&1 & 2s_e & 3s_e^2 & 4s_e^3 & 5s_e^4 \\ 0& 0&2 & 3\times2s_e & 4\times3s_e^2 & 5\times4s_e^3 \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix} = \begin{vmatrix} l_0\\ l'_0\\ l''_0\\ l_e\\ l'_e\\ l''_e\\ \end{vmatrix}
∣∣∣∣∣∣∣∣∣∣∣∣100100s010se10s022s02se22se2s033s023×2s0se33se23×2ses044s034×3s02se44se34×3se2s055s045×4s03se55se45×4se3∣∣∣∣∣∣∣∣∣∣∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣=∣∣∣∣∣∣∣∣∣∣∣∣l0l0′l0′′lele′le′′∣∣∣∣∣∣∣∣∣∣∣∣
2.3 平滑节点约束
该约束的目的是使样条的节点更加平滑。假设两个段segk 和segk+1互相连接,且segk的累计值s为sk。计算约束的等式为:
f
k
(
s
k
)
=
f
k
+
1
(
s
0
)
f_k(s_k) = f_{k+1} (s_0)
fk(sk)=fk+1(s0)
下面是计算的具体步骤:
∣
1
s
k
s
k
2
s
k
3
s
k
4
s
k
5
∣
⋅
∣
a
k
0
a
k
1
a
k
2
a
k
3
a
k
4
a
k
5
∣
=
∣
1
s
0
s
0
2
s
0
3
s
0
4
s
0
5
∣
⋅
∣
a
k
+
1
,
0
a
k
+
1
,
1
a
k
+
1
,
2
a
k
+
1
,
3
a
k
+
1
,
4
a
k
+
1
,
5
∣
\begin{vmatrix} 1 & s_k & s_k^2 & s_k^3 & s_k^4&s_k^5 \\ \end{vmatrix} \cdot \begin{vmatrix} a_{k0} \\ a_{k1} \\ a_{k2} \\ a_{k3} \\ a_{k4} \\ a_{k5} \end{vmatrix} = \begin{vmatrix} 1 & s_{0} & s_{0}^2 & s_{0}^3 & s_{0}^4&s_{0}^5 \\ \end{vmatrix} \cdot \begin{vmatrix} a_{k+1,0} \\ a_{k+1,1} \\ a_{k+1,2} \\ a_{k+1,3} \\ a_{k+1,4} \\ a_{k+1,5} \end{vmatrix}
∣∣1sksk2sk3sk4sk5∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ak0ak1ak2ak3ak4ak5∣∣∣∣∣∣∣∣∣∣∣∣=∣∣1s0s02s03s04s05∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ak+1,0ak+1,1ak+1,2ak+1,3ak+1,4ak+1,5∣∣∣∣∣∣∣∣∣∣∣∣
然后
∣
1
s
k
s
k
2
s
k
3
s
k
4
s
k
5
−
1
−
s
0
−
s
0
2
−
s
0
3
−
s
0
4
−
s
0
5
∣
⋅
∣
a
k
0
a
k
1
a
k
2
a
k
3
a
k
4
a
k
5
a
k
+
1
,
0
a
k
+
1
,
1
a
k
+
1
,
2
a
k
+
1
,
3
a
k
+
1
,
4
a
k
+
1
,
5
∣
=
0
\begin{vmatrix} 1 & s_k & s_k^2 & s_k^3 & s_k^4&s_k^5 & -1 & -s_{0} & -s_{0}^2 & -s_{0}^3 & -s_{0}^4&-s_{0}^5\\ \end{vmatrix} \cdot \begin{vmatrix} a_{k0} \\ a_{k1} \\ a_{k2} \\ a_{k3} \\ a_{k4} \\ a_{k5} \\ a_{k+1,0} \\ a_{k+1,1} \\ a_{k+1,2} \\ a_{k+1,3} \\ a_{k+1,4} \\ a_{k+1,5} \end{vmatrix} = 0
∣∣1sksk2sk3sk4sk5−1−s0−s02−s03−s04−s05∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣ak0ak1ak2ak3ak4ak5ak+1,0ak+1,1ak+1,2ak+1,3ak+1,4ak+1,5∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣∣=0
将s0 = 0代入等式。
同样地,可以为下述等式计算约束等式:
f
k
′
(
s
k
)
=
f
k
+
1
′
(
s
0
)
f
k
′
′
(
s
k
)
=
f
k
+
1
′
′
(
s
0
)
f
k
′
′
′
(
s
k
)
=
f
k
+
1
′
′
′
(
s
0
)
f'_k(s_k) = f'_{k+1} (s_0) \\ f''_k(s_k) = f''_{k+1} (s_0) \\ f'''_k(s_k) = f'''_{k+1} (s_0)
fk′(sk)=fk+1′(s0)fk′′(sk)=fk+1′′(s0)fk′′′(sk)=fk+1′′′(s0)
2.4 点采样边界约束
在路径上均匀的取样m个点,检查这些点上的障碍物边界。将这些约束转换为QP约束不等式,使用不等式:
A
x
≥
b
Ax \geq b
Ax≥b
首先基于道路宽度和周围的障碍物找到点 (sj,lj)的下边界llb,j,且j∈[0,m]。计算约束的不等式为:
∣
1
s
0
s
0
2
s
0
3
s
0
4
s
0
5
1
s
1
s
1
2
s
1
3
s
1
4
s
1
5
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
1
s
m
s
m
2
s
m
3
s
m
4
s
m
5
∣
⋅
∣
a
i
0
a
i
1
a
i
2
a
i
3
a
i
4
a
i
5
∣
≥
∣
l
l
b
,
0
l
l
b
,
1
.
.
.
l
l
b
,
m
∣
\begin{vmatrix} 1 & s_0 & s_0^2 & s_0^3 & s_0^4&s_0^5 \\ 1 & s_1 & s_1^2 & s_1^3 & s_1^4&s_1^5 \\ ...&...&...&...&...&... \\ 1 & s_m & s_m^2 & s_m^3 & s_m^4&s_m^5 \\ \end{vmatrix} \cdot \begin{vmatrix}a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix} \geq \begin{vmatrix} l_{lb,0}\\ l_{lb,1}\\ ...\\ l_{lb,m}\\ \end{vmatrix}
∣∣∣∣∣∣∣∣11...1s0s1...sms02s12...sm2s03s13...sm3s04s14...sm4s05s15...sm5∣∣∣∣∣∣∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣≥∣∣∣∣∣∣∣∣llb,0llb,1...llb,m∣∣∣∣∣∣∣∣
同样地,对上边界lub,j,计算约束的不等式为:
∣ − 1 − s 0 − s 0 2 − s 0 3 − s 0 4 − s 0 5 − 1 − s 1 − s 1 2 − s 1 3 − s 1 4 − s 1 5 . . . . . . − . . . . . . . . . . . . − 1 − s m − s m 2 − s m 3 − s m 4 − s m 5 ∣ ⋅ ∣ a i 0 a i 1 a i 2 a i 3 a i 4 a i 5 ∣ ≥ − 1 ⋅ ∣ l u b , 0 l u b , 1 . . . l u b , m ∣ \begin{vmatrix} -1 & -s_0 & -s_0^2 & -s_0^3 & -s_0^4&-s_0^5 \\ -1 & -s_1 & -s_1^2 & -s_1^3 & -s_1^4&-s_1^5 \\ ...&...-&...&...&...&... \\ -1 & -s_m & -s_m^2 & -s_m^3 & -s_m^4&-s_m^5 \\ \end{vmatrix} \cdot \begin{vmatrix} a_{i0} \\ a_{i1} \\ a_{i2} \\ a_{i3} \\ a_{i4} \\ a_{i5} \end{vmatrix} \geq -1 \cdot \begin{vmatrix} l_{ub,0}\\ l_{ub,1}\\ ...\\ l_{ub,m}\\ \end{vmatrix} ∣∣∣∣∣∣∣∣−1−1...−1−s0−s1...−−sm−s02−s12...−sm2−s03−s13...−sm3−s04−s14...−sm4−s05−s15...−sm5∣∣∣∣∣∣∣∣⋅∣∣∣∣∣∣∣∣∣∣∣∣ai0ai1ai2ai3ai4ai5∣∣∣∣∣∣∣∣∣∣∣∣≥−1⋅∣∣∣∣∣∣∣∣lub,0lub,1...lub,m∣∣∣∣∣∣∣∣