论文标题

燃油和时间最佳的USV轨迹计划在灵活加油限制下

Fuel and Time Optimal USV Trajectory Planning under Flexible Refueling Constraints

论文作者

Kandel, Aaron, Xu, Chu, Cardona, David, Whitehair, Carey

论文摘要

本文解决了针对无人的地表车辆的轨迹优化问题,同时考虑了方向依赖的洋流和柔性加油约束。这项工作是出于对开发自主导航技术的兴趣不断增加的,用于用于海洋绑定的无人地面车辆的商业,科学和军事应用。有关此类车辆的相关文献已经解决了节能轨迹优化和及时的轨迹优化。但是,包括加油站和多目标优化的轨迹优化技术的应用仍然相对尚未探索。我们通过将轨迹设计问题作为一个具有多目标成本函数的非convex混合智能优化程序来解决这一开放挑战。然后,我们应用动态编程来解决此优化程序,以实现燃料和时间最佳轨迹。我们将这些结果综合为一系列的帕累托阵线,这些片段表明了燃料消耗与旅行时间之间的既有典型路线之间的权衡,依赖方向依赖洋流。此外,我们解决的最佳轨迹说明了随着燃油水平的较低,车辆遇到适得其反的洋流时,车辆行为的变化。我们的结果表明,有关整体轨迹优化过程的几个有意义的见解。

This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing autonomous navigation technology for commercial, scientific, and military applications for ocean-bound unmanned surface vehicles. Relevant literature on such vehicles has addressed energy-efficient trajectory optimization and time-efficient trajectory optimization. However, the application of trajectory optimization techniques which include refueling stops and multi-objective optimization remains relatively unexplored. We address this open challenge by formulating the trajectory design problem as a nonconvex mixed-integer optimization program with a multi-objective cost function. Then, we apply dynamic programming to solve this optimization program for fuel and time optimal trajectories. We synthesize these results into a series of Pareto fronts which demonstrates the tradeoff between fuel consumption and trip time for a prototypical route with direction-dependent ocean currents. Furthermore, the optimal trajectories for which we solve illustrate the changes in the vehicle's behavior as the fuel level becomes low, and as the vehicle encounters counterproductive ocean currents. Our results indicate several meaningful insights about the overall trajectory optimization process.

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