Minimum time-energy trajectory planning for automatic ship berthing |
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Authors: | Djouani K Hamam Y |
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Affiliation: | Control Dept., Ecole Superieure d'Ingenieurs en Electrotech. et Electron., Noisy-Le-Grand; |
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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 |
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