Autonomous navigation of ships by combining optimal trajectory planning with informed graph search

DOI10.1080/13873954.2021.2007138zbMath1485.93391OpenAlexW4210752230MaRDI QIDQ5068837

Kathrin Flasskamp, Sylvain Roy, Luis Lüttgens, Heinrich Wernsing, Benjamin Jurgelucks, Christof Büskens

Publication date: 7 April 2022

Published in: Mathematical and Computer Modelling of Dynamical Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/13873954.2021.2007138

zbMATH Keywords

optimal controlmotion planningautonomous navigationship dynamics\(\mathrm{A}^*\) planning

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Existence theories for optimal control problems involving ordinary differential equations (49J15)

Uses Software

• KNITRO
• SNOPT
• Ipopt
• WORHP
• OpenStreetMap

Cites Work

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• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents
• The ESA NLP Solver WORHP
• SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization
• Planning Algorithms
• Control strategies on stable manifolds for energy-efficient swing-ups of double pendula

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