Vis enkel innførsel

dc.contributor.authorLekkas, Anastasios M.
dc.contributor.authorRoald, Ann Louise
dc.contributor.authorBreivik, Morten
dc.date.accessioned2017-11-08T14:22:01Z
dc.date.available2017-11-08T14:22:01Z
dc.date.created2016-08-02T11:08:55Z
dc.date.issued2016
dc.identifier.citationIFAC-PapersOnLine. 2016, 49 (23), 1-7.nb_NO
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/11250/2465008
dc.description.abstractThis paper investigates the feasibility of using pseudospectral (PS) optimal control in real-time path planning for marine surface vehicles in environments where both obstacles and unknown disturbances are present. In particular, the simplified kinematic equations of an underactuated marine surface vehicle exposed to unknown ocean currents are considered, and the software package DIDO is used to compute the optimal path via PS optimization, initially assuming the ocean current is zero. In that case, the resulting path is minimum-length (similar to Dubins path) but not minimum-time. The main contribution concerns the addition of a nonlinear observer, which estimates online the effects of the ocean current on the vehicle, and that of a guidance system which generates appropriate reference trajectories in order to minimize the position error and track the optimal trajectory successfully. It is shown that through occasional replanning, according to the information about the ocean current parameters coming from the observer, the updated path converges to the minimum-time path. Two different implementations of the approach are presented and illustrated through numerical simulations.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.relation.urihttp://www.sciencedirect.com/science/article/pii/S2405896316319000
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleOnline Path Planning for Surface Vehicles Exposed to Unknown Ocean Currents Using Pseudospectral Optimal Controlnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber1-7nb_NO
dc.source.volume49nb_NO
dc.source.journalIFAC-PapersOnLinenb_NO
dc.source.issue23nb_NO
dc.identifier.doi10.1016/j.ifacol.2016.10.313
dc.identifier.cristin1370061
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.relation.projectNorges forskningsråd: 234108nb_NO
dc.description.localcode© 2016. This is the authors’ accepted and refereed manuscript to the article. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/nb_NO
cristin.unitcode194,64,20,0
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for marin teknikk
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


Tilhørende fil(er)

Thumbnail

Denne innførselen finnes i følgende samling(er)

Vis enkel innførsel

Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Med mindre annet er angitt, så er denne innførselen lisensiert som Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal