dc.contributor.author | Bitar, Glenn Ivan | |
dc.contributor.author | Breivik, Morten | |
dc.contributor.author | Lekkas, Anastasios M. | |
dc.date.accessioned | 2019-01-04T13:06:30Z | |
dc.date.available | 2019-01-04T13:06:30Z | |
dc.date.created | 2019-01-03T09:47:46Z | |
dc.date.issued | 2018 | |
dc.identifier.isbn | 0000000000 | |
dc.identifier.uri | http://hdl.handle.net/11250/2579238 | |
dc.description.abstract | The topic of energy-optimized path planning using pseudospectral optimal control is considered. An optimal control problem (OCP) is formulated to produce an energy-optimized path between two points among static obstacles. A nonlinear 3-degree-of-freedom underactuated ship model is considered in the OCP with an energy-based cost function. The ship model is affected by external disturbances in the form of ocean currents. The OCP is solved using a pseudospectral method, which has proven successful in real-world applications. Additionally, the method is not as sensitive to dimensionality compared to Hamilton-Jacobi-Bellman methods. Position and speed information from the OCP solution is used in a closed-loop simulation with a guidance controller to show feasibility of the path. The simulation results show that the path is feasible, and that including ocean-current information in the path planning significantly reduces energy consumption. The paper also gives a short overview and classification of alternative path-planning methods. Finally, a proposal for how the path planner fits in a complete motion-control architecture is provided. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Elsevier | nb_NO |
dc.relation.ispartof | 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018 Opatija, Croatia, 10–12 September 2018 | |
dc.title | Energy-Optimized Path Planning for Autonomous Ferries | nb_NO |
dc.type | Journal article | nb_NO |
dc.description.version | submittedVersion | nb_NO |
dc.source.pagenumber | 389-394 | nb_NO |
dc.source.volume | 51 | nb_NO |
dc.source.journal | IFAC-PapersOnLine | nb_NO |
dc.source.issue | 29 | nb_NO |
dc.identifier.doi | 10.1016/j.ifacol.2018.09.456 | |
dc.identifier.cristin | 1649191 | |
dc.relation.project | Norges forskningsråd: 269116 | nb_NO |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | This is a submitted manuscript of an article published by Elsevier Ltd in IFAC-PapersOnLine, 11 October 2018. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitcode | 194,64,20,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.unitname | Institutt for marin teknikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |