Paper
Optimal Pseudospectral Path Planning of Oil Tankers
- Authors:
- H. Salarieh; M. T. Ghorbani
- Abstract
- In the current paper, the problem of path planning of the ESSO, a 190,000 deadweight oil tanker is considered. The path planning of the tanker is a challenging issue both in narrow channels due to collision possibility and in open waters where minimum fuel usage is important. To handle this problem, the vessel and its actuator dynamics in shallow and deep waters, the economy and the waypoint guidance are translated into the optimal control framework. In order to solve the resulted nonlinear constrained optimal control problem (OCP), the Gauss pseudospectral collocation method (GPCM) is used to transcribe the OCP into a nonlinear programming problem (NLP) by discretization of controls and states. The resulted NLP is then solved by a well-developed algorithm known as SNOPT. The procedure for modeling, compilation and solving of resulted OCP is done in Matlab optimal control software known as PROPT. Nonlinear optimal tracking, course-changing autopilot and way point guidance are then designed for the tanker using the proposed method. The obtained results provide fuel economy and better maneuvering performance in a low computational time.
- Keywords
- Optimal Control; Gauss Pseudospectral Collocation Method; Super-tanker; Path Planning; PROPT
- StartPage
- 115
- EndPage
- 127
- Doi