Time optimal Zermelo's navigation problem with moving and fixed obstacles

Bin Li, C. Xu, K.L. Teo, J. Chu

    Research output: Contribution to journalArticle

    15 Citations (Scopus)

    Abstract

    In this paper, we consider a time optimal Zermelo's navigation problem (ZNP) with moving and fixed obstacles. This problem can be formulated as an optimal control problem with continuous inequality constraints and terminal state constraints. By using the control parametrization technique together with the time scaling transform, the problem is transformed into a sequence of optimal parameters selection problems with continuous inequality constraints and terminal state constraints. For each problem, an exact penalty function method is used to append all the constraints to the objective function yielding a new unconstrained optimal parameters selection problem. It is solved as a nonlinear optimization problem. Different scenarios are considered in the simulation, and the results obtained show that the proposed method is effective. © 2013 Elsevier Inc. All rights reserved.
    Original languageEnglish
    Pages (from-to)866-875
    JournalApplied Mathematics and Computation
    Volume224
    DOIs
    Publication statusPublished - 2013

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    Navigation
    Parameter Selection
    State Constraints
    Optimal Parameter
    Inequality Constraints
    Control Parametrization
    Exact Penalty Function
    Penalty Function Method
    Nonlinear Optimization
    Nonlinear Problem
    Optimal Control Problem
    Objective function
    Scaling
    Transform
    Optimization Problem
    Scenarios
    Simulation

    Cite this

    Li, Bin ; Xu, C. ; Teo, K.L. ; Chu, J. / Time optimal Zermelo's navigation problem with moving and fixed obstacles. In: Applied Mathematics and Computation. 2013 ; Vol. 224. pp. 866-875.
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    Time optimal Zermelo's navigation problem with moving and fixed obstacles. / Li, Bin; Xu, C.; Teo, K.L.; Chu, J.

    In: Applied Mathematics and Computation, Vol. 224, 2013, p. 866-875.

    Research output: Contribution to journalArticle

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