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

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