Study on Ship Dynamic Positioning system's Thruster Allocation based on genetic algorithm

Ship Dynamic Positioning system's Thruster Allocation is a nonlinear programming problem with nonlinear equality and inequality. In practice, thrusters will be unbalancing worn with allocated unbalancing thruster forces. And when one thruster failures, dynamic positioning capability is hard to be recovered under allocated unbalancing thruster forces. In this paper, performance of algorithm is improved with allocated balancing thruster forces. Genetic algorithm is designed to solve the nonlinear programming problem with nonlinear equality and inequality. And result of algorithm could offer needed propulsive force, save power and offer balancing Load.