The goal of the project GALILEOnautic is to develop a system for autonomous navigation and optimal manoeuvring of cooperative ships within safety‐critical areas. In this context, many challenges arise in the field of optimization and optimal control. The research presented here addresses one of them, namely, the calculation of optimal trajectories and controls for a group of cooperative ships navigating within the limits of a harbour. The adopted approach is to embed all aspects of the problem into a single optimal control problem, whose objective is to minimize the time to destination of each ship as well as their overall energy consumption. Path constraints are applied to maintain the ships at a safe distance from each other and from the infrastructure of the harbour. A two‐ship scenario is implemented, for which optimal trajectories and controls are successfully computed. The numerical computation of this problem is performed using the software library WORHP, the official ESA NLP solver, and moreover the software TransWORHP, which transcribes optimal control problems into optimization problems. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
Proceedings in Applied Mathematics & Mechanics – Wiley
Published: Jan 1, 2017
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