Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Optimal Pseudospectral Path Planning of Oil Tankers

Optimal Pseudospectral Path Planning of Oil Tankers 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. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Advanced Shipping and Ocean Engineering World Academic Publishing Co.

Optimal Pseudospectral Path Planning of Oil Tankers

Loading next page...
 
/lp/world-academic-publishing-co/optimal-pseudospectral-path-planning-of-oil-tankers-2i4g5h2DBi

References

References for this paper are not available at this time. We will be adding them shortly, thank you for your patience.

Publisher
World Academic Publishing Co.
Copyright
Copyright © 2014, THE WORLD ACADEMIC PUBLISHING CO. LIMITED
ISSN
2306-7675
eISSN
2306-7667

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.

Journal

Advanced Shipping and Ocean EngineeringWorld Academic Publishing Co.

Published: Dec 30, 2013

There are no references for this article.