Optimal constrained multi-criteria trajectory planning for ship maneuvering and control

Author

Djouani, K. ; Hamam, Y.

Author_Institution

Dept. Automatique, ESIEE, Noisy-Le-Grand, France

fYear

1993

fDate

13-16 Sep 1993

Firstpage

525

Abstract

The problem of optimal trajectory planning for ships to minimize a multi-criteria, cost function (time/energy minimization and reduction of steering system wearing) under nonlinear equality and inequality constraints, is addressed. First, a nonlinear mathematical model of the ship´s dynamic is constructed and implemented on the MATRIXx package. Detailed simulation results are given. The ship´s optimal path planning (SOPP) problem is then formulated in terms of nonlinear and nonconvex mathematical programming. The discrete augmented Lagrangian approach is used to solve this problem. The method was programmed using FORTRAN 77 on VAX-STATION, and numerical results are given

Keywords

computerised control; optimal control; path planning; ships; software packages; MATRIXx package; discrete augmented Lagrangian approach; inequality constraints; multi-criteria cost function; nonlinear equality constraints; nonlinear mathematical model; nonlinear nonconvex mathematical programming; optimal constrained multi-criteria trajectory planning; optimal path planning; ship maneuvering; ship´s dynamic; steering system wearing; time/energy minimization; Cost function; Linear matrix inequalities; Marine vehicles; Mathematical model; Mathematical programming; Nonlinear dynamical systems; Packaging; Path planning; Steering systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1993., Second IEEE Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-1872-2

Type

conf

DOI

10.1109/CCA.1993.348349

Filename

348349