Volume 5, Issue 3 (Journal of Control, V.5, N.3 Fall 2011)                   JoC 2011, 5(3): 57-68 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Ghorbani M T, Salarieh H, Assadian N. Time Optimal Trajectory Planning For a High Speed Planing Boat. JoC 2011; 5 (3) :57-68
URL: http://joc.kntu.ac.ir/article-1-82-en.html
Abstract:   (13581 Views)
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
Full-Text [PDF 785 kb]   (3811 Downloads)    
Type of Article: Research paper | Subject: Special
Received: 2014/06/15 | Accepted: 2014/06/15 | Published: 2014/06/15

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author


Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

© 2024 CC BY-NC 4.0 | Journal of Control

Designed & Developed by : Yektaweb