Time optimal Zermelo's navigation problem with moving and fixed obstacles
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 wi...
| Main Authors: | , , , |
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| Format: | Journal Article |
| Published: |
Elsevier Inc.
2013
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| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/36117 |
| _version_ | 1848754680528633856 |
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| author | Li, B. Xu, C. Teo, Kok Lay Chu, J. |
| author_facet | Li, B. Xu, C. Teo, Kok Lay Chu, J. |
| author_sort | Li, B. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T08:44:16Z |
| format | Journal Article |
| id | curtin-20.500.11937-36117 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T08:44:16Z |
| publishDate | 2013 |
| publisher | Elsevier Inc. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-361172017-09-13T15:33:38Z Time optimal Zermelo's navigation problem with moving and fixed obstacles Li, B. Xu, C. Teo, Kok Lay Chu, J. time optimal control obstacle avoidance control parametrization exact penalty function method Zermelo’s navigation problem (ZNP) time scaling transform 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 Journal Article http://hdl.handle.net/20.500.11937/36117 10.1016/j.amc.2013.08.092 Elsevier Inc. restricted |
| spellingShingle | time optimal control obstacle avoidance control parametrization exact penalty function method Zermelo’s navigation problem (ZNP) time scaling transform Li, B. Xu, C. Teo, Kok Lay Chu, J. Time optimal Zermelo's navigation problem with moving and fixed obstacles |
| title | Time optimal Zermelo's navigation problem with moving and fixed obstacles |
| title_full | Time optimal Zermelo's navigation problem with moving and fixed obstacles |
| title_fullStr | Time optimal Zermelo's navigation problem with moving and fixed obstacles |
| title_full_unstemmed | Time optimal Zermelo's navigation problem with moving and fixed obstacles |
| title_short | Time optimal Zermelo's navigation problem with moving and fixed obstacles |
| title_sort | time optimal zermelo's navigation problem with moving and fixed obstacles |
| topic | time optimal control obstacle avoidance control parametrization exact penalty function method Zermelo’s navigation problem (ZNP) time scaling transform |
| url | http://hdl.handle.net/20.500.11937/36117 |