한국항해항만학회지 (Journal of Navigation and Port Research)

  • 제47권2호
  • /
  • Pages.66-74
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  • 2023
  • /
  • 1598-5725(pISSN)
  • /
  • 2093-8470(eISSN)
한국항해항만학회 (Korean Institute of Navigation and Port Research)
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Optimal Route Planning for Maritime Autonomous Surface Ships Using a Nonlinear Model Predictive Control

  • Daejeong Kim (Korea Maritime & Ocean University) ;
  • Zhang Ming (Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde) ;
  • Jeongbin Yim (Department of Maritime AI and Cyber Security, Korea Maritime & Ocean University)
  • 투고 : 2022.10.07
  • 심사 : 2023.03.03
  • 발행 : 2023.04.30
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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.

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과제정보

This work was supported by the Development of Autonomous Ship Technology [grant number 20200615], funded by the Ministry of Oceans and Fisheries (MOF, Korea).

참고문헌

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