Minimum time-energy trajectory planning for automatic ship berthing

Author

Djouani, Karim ; Hamam, Yskandar

Author_Institution

Control Dept., Ecole Superieure d´´Ingenieurs en Electrotech. et Electron., Noisy-Le-Grand, France

Volume

20

Issue

1

fYear

1995

fDate

1/1/1995 12:00:00 AM

Firstpage

4

Lastpage

12

Abstract

A ship optimal trajectory planning method based on the dynamic model of the ship is presented. First a mathematical modular model is introduced for describing the non-linear dynamics of the ship. Then the problem of optimal trajectory planning is discussed. The trajectory is obtained through the optimization of a time-energy criterion, taking into account constraints on the steering system, environment, non-linearities, and non-convexity of the state space equations. The discrete augmented Lagrangian approach is used to compute the optimal constrained controller. The method was programmed on a HP700 workstation. This approach was applied to automatic ship berthing maneuver

Keywords

constraint theory; control system CAD; minimisation; optimal control; path planning; position control; ships; state-space methods; HP700 workstation; automatic ship berthing; discrete augmented Lagrangian approach; dynamic model; mathematical modular model; minimum time-energy trajectory planning; nonconvexity; nonlinear dynamics; nonlinearities; optimal constrained controller; optimal trajectory planning; optimization; state space equations; time-energy criterion; Constraint optimization; Lagrangian functions; Marine vehicles; Mathematical model; Nonlinear dynamical systems; Nonlinear equations; Optimal control; State-space methods; Steering systems; Trajectory;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.380251

Filename

380251