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Safe Maritime Autonomous Path Planning in a High Sea StateThis paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.
Document ID
20150008671
Document Type
Conference Paper
External Source(s)
Authors
Ono, Masahiro (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Quadrelli, Marco (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Huntsberger, Terrance L. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
May 21, 2015
Publication Date
June 4, 2014
Subject Category
Astrodynamics
Meeting Information
American Control Conference, 2014(Portland, OR)
Funding Number(s)
CONTRACT_GRANT: NNN13R305T
Distribution Limits
Public
Copyright
Other