min=S_AP*5.6+(S_EP+S_BE)*6+h*7.2+S_BE*21.6; S_BE<=(8^2+5^2)^0.5;S_BE>=5;((S_AP^2-(5-h)^2)^0.5)+((S_EP^2-(5-h)^2)^0.5)=15;S_AP+S_EP>=((15^2)+((3-(S_BE^2-25)^0.5)^2))^0.5;h<=8;h>=0;S_AP<=(5^2+15^2)^0.5;S_EP<=(8^2+20^2)^0.5;