Optimal Route Planning for Maritime Autonomous Surface Ships Using a Nonlinear Model Predictive Control

• 영문명: Optimal Route Planning for Maritime Autonomous Surface Ships Using a Nonlinear Model Predictive Control
• 발행기관: 한국항해항만학회
• 저자명: 김대정 Zhang Ming 임정빈
• 간행물 정보: 『한국항해항만학회지』제47권 제2호, 66~74쪽, 전체 9쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2023.04.30

영문 초록

With the increase of interest in developing Maritime Autonomous Surface Ships (MASS), an optimal ship route planning is gradually gaining popularity as one of the important subsystems for autonomy of modern marine vessels. In the present paper, an optimal ship route planning model for MASS is proposed using a nonlinear MPC approach together with a nonlinear MMG model. Results drawn from this study demonstrated that the optimization problem for the ship route was successfully solved with satisfaction of the nonlinear dynamics of the ship and all constraints for the state and manipulated variables using the nonlinear MPC approach. Given that a route generation system capable of accounting for nonlinear dynamics of the ship and equality/inequality constraints is essential for achieving fully autonomous navigation at sea, it is expected that this paper will contribute to the field of autonomous vehicles by demonstrating the performance of the proposed optimal ship route planning model.

목차

1. Introduction

2. Problem formulation

3. Results (Case study)

4. Conclusions and discussion

Acknowledgements

References

키워드

maritime autonomous surface ships route planning optimization model predictive control nonlinear dynamics