Volume 5, Issue 3 (Journal of Control, V.5, N.3 Fall 2011)
JoC 2011, 5(3): 57-68 |
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Abstract: (13681 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
Keywords: High Speed Planing Boat, Trajectory Optimization, Hamiltonian Boundary Value Problem, Steepest Descent Approach, Linear Extended Penalty Function Method.
Type of Article: Research paper |
Subject:
Special
Received: 2014/06/15 | Accepted: 2014/06/15 | Published: 2014/06/15
Received: 2014/06/15 | Accepted: 2014/06/15 | Published: 2014/06/15
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