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Minimum time-energy trajectory planning for automatic ship berthing

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2 Author(s)
K. Djouani ; Control Dept., Ecole Superieure d'Ingenieurs en Electrotech. et Electron., Noisy-Le-Grand, France ; Y. Hamam

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

Published in:

IEEE Journal of Oceanic Engineering  (Volume:20 ,  Issue: 1 )