Difference between revisions of "Path Planning"
(The motion planning can be done by classical algorithms such as A* or RRT* to traverse in the graph. This would have to be calculated live as the vessel travels to different destinations) |
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|Supervisor=Slawomir Nowaczyk, Yuantao Fan, Hadi Fanaee, or Mohamed Abuella | |Supervisor=Slawomir Nowaczyk, Yuantao Fan, Hadi Fanaee, or Mohamed Abuella | ||
|Level=Master | |Level=Master | ||
| − | |Status=Draft | + | |Status=Internal Draft |
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Project description | Project description | ||
Latest revision as of 05:54, 3 October 2022
| Title | Path Planning |
|---|---|
| Summary | Path and Motion Planning for a Ferry |
| Keywords | Path Planning |
| TimeFrame | 2 Terms |
| References | |
| Prerequisites | |
| Author | |
| Supervisor | Slawomir Nowaczyk, Yuantao Fan, Hadi Fanaee, or Mohamed Abuella |
| Level | Master |
| Status | Internal Draft |
Project description
Path/Motion Planning Introduction Reducing fuel of marine traffic is a complex task that involves everything from path planning to control parameters such as acceleration pedal position and heading. Tackling the entire problem is a big task and is therefor preferable to divide into well defined sub projects. This document will describe the end goal and suggest different parts of the main objective to ensure reachable goals.
Goal The end goal is to provide a full motion control of the vessel from a point A to B. This would include path (including heading-course over ground difference) as well as speed (including acceleration pedal position). This would be optimised with the help of a cost function and a motion planning algorithm inside a sufficiently detailed graph. The cost function will be based on multiple factors, mainly fuel, but also total time of the travel as well as energy division between different sources. The graph will be a multi dimensional graph where longitude, latitude, speed, heading, wind, etc can be considered as dimensions. The graph should be sufficiently detailed in different ranges of the dimensions. For example the longitude and latitude can take longer steps in open sea and shorter close to harbours
