TIME OPTIMAL TRAJECTORY PLANNING FOR A HIGH SPEED PLANING BOAT

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GHORBANI M.T.; SALARIEH H.; ASSADIAN N.

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Journal: Journal of Control Year:2011 | Volume:5 | Issue:3 Page(s): 56-68

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Information Journal Paper

Title

TIME OPTIMAL TRAJECTORY PLANNING FOR A HIGH SPEED PLANING BOAT

Author(s)

GHORBANI M.T. | SALARIEH H. | ASSADIAN N. | Issue Writer Certificate

Keywords

HIGH SPEED PLANING BOATQ3

TRAJECTORY OPTIMIZATIONQ3

HAMILTONIAN BOUNDARY VALUE PROBLEMQ3

STEEPEST DESCENT APPROACHQ3

LINEAR EXTENDED PENALTY FUNCTION METHODQ3

Abstract

In this paper, the problem of trajectory planning for a HIGH SPEED PLANING BOAT with the aim of time optimization under nonlinear equality and inequality constraints is addressed. First, a nonlinear mathematical model of the craft dynamic and then the HAMILTONIAN BOUNDARY VALUE PROBLEM (HBVP) equations are derived. The problem is solved using nolinear programming by discretizing the control time history and adjoining the constraints to the cost function via Linear Extended Penalty Function (LEPF) method. The Steepest Descent (SD) approach is used to solve this nonlinear programming. Some examples of boat minimum time maneuver are presented to demonstrate the effectiveness of the approach for designing optimal maneuvers.

Cites

TIME OPTIMAL TRAJECTORY PLANNING OF FOUR BAR MECHANISM USING INDIRECT APPROACH

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APA: Copy

GHORBANI, M.T., SALARIEH, H., & ASSADIAN, N.. (2011). TIME OPTIMAL TRAJECTORY PLANNING FOR A HIGH SPEED PLANING BOAT. JOURNAL OF CONTROL, 5(3), 56-68. SID. https://sid.ir/paper/120789/en

Vancouver: Copy

GHORBANI M.T., SALARIEH H., ASSADIAN N.. TIME OPTIMAL TRAJECTORY PLANNING FOR A HIGH SPEED PLANING BOAT. JOURNAL OF CONTROL[Internet]. 2011;5(3):56-68. Available from: https://sid.ir/paper/120789/en

IEEE: Copy

M.T. GHORBANI, H. SALARIEH, and N. ASSADIAN, “TIME OPTIMAL TRAJECTORY PLANNING FOR A HIGH SPEED PLANING BOAT,” JOURNAL OF CONTROL, vol. 5, no. 3, pp. 56–68, 2011, [Online]. Available: https://sid.ir/paper/120789/en

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