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Path Planning and Design of Optimal Guidance Algorithm for a High Speed Planing Craft

Ghorbani Posht Mashhadi, Mohammad Taghi | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42922 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Salarieh, Hassan
  7. Abstract:
  8. In this thesis, the problem of trajectory planning for a high speed planing boat under nonlinear equality and inequality constraints is addressed. First, a nonlinear mathematical model of the craft’s dynamics is derived. To solve a trajectory optimization problem, we can utilize the indirect or direct methods. In the indirect methods, maximum principle of Pontryagin is used to transform the optimal control problem into Euler Lagrange equations, on the other hand, in the direct methods it is necessary to transcribe the optimal control problem into a nonlinear programming problem (NLP) by discretization of states and controls. The resulted NLP can be solved by well-developed algorithms such as SNOPT. In the present thesis, the problem is solved via indirect method using nonlinear programming by discretizing the control time history and adjoining the constraints to the cost function via Linear Extended Penalty Function Method. The Steepest Descent approach is used to solve this nonlinear programming. We also use direct method to optimize the trajectories by solving an optimal control problem using the Gauss pseudospectral method (GPM). Some examples of optimal scenarios are presented to demonstrate the effectiveness of the approaches. It is shown that the GPM method has better performance than the proposed indirect method to design optimal maneuvers.
  9. Keywords:
  10. Path Planning ; Planning Boat ; Gaussian Pseudospectral Method ; Optimal Guidance ; Hamiltonian Boundary Value Problem (HBVP)Equations

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