Title :
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
fDate :
1/1/1995 12:00:00 AM
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;
Journal_Title :
Oceanic Engineering, IEEE Journal of
