IDEAS home Printed from https://ideas.repec.org/a/spr/joptap/v129y2006i1d10.1007_s10957-006-9051-6.html
   My bibliography  Save this article

Optimal Trajectories and Guidance Schemes for Ship Collision Avoidance

Author

Listed:
  • A. Miele

    (Rice University)

  • T. Wang

    (Rice University)

Abstract

The best strategy for collision avoidance under emergency conditions is to maximize wrt the controls the timewise minimum distance between the host ship and the intruder ship. In a restricted waterway area, two main constraints must be satisfied: the lateral deviation of the host ship from the original course is to be contained within certain limits; the longitudinal distance covered by the host ship is to be subject to a prescribed bound. At the maximin point of the encounter, the time derivative of the relative distance vanishes; this yields an inner boundary condition (orthogonality between the relative position vector and the relative velocity vector) separating the main phases of the maneuver: the avoidance and recovery phases. In this way, the optimal trajectory problem (a Chebyshev problem) can be converted into a Bolza problem with an inner boundary condition. Numerical solutions are obtained via the multiple-subarc sequential gradient-restoration algorithm (SGRA). Because the optimal trajectory is not suitable for real-time implementation, a guidance scheme approximating the optimal trajectory in real time is to be developed. For ship collision avoidance, the optimal trajectory results show that the rudder angle time history has a bang-bang form characterized by the alternation of saturated control subarcs of opposite signs joined by rapid transitions. Just as the optimal trajectory can be partitioned into three phases (avoidance phase, recovery phase, steady phase), a guidance trajectory can be constructed in the same way. For the avoidance and recovery phases, use of decomposition techniques leads to an algorithm computing the time lengths of these phases in real time. For the steady phase, a feedback control scheme is used to maneuver the ship steadily. Numerical results are presented.

Suggested Citation

  • A. Miele & T. Wang, 2006. "Optimal Trajectories and Guidance Schemes for Ship Collision Avoidance," Journal of Optimization Theory and Applications, Springer, vol. 129(1), pages 1-21, April.
  • Handle: RePEc:spr:joptap:v:129:y:2006:i:1:d:10.1007_s10957-006-9051-6
    DOI: 10.1007/s10957-006-9051-6
    as

    Download full text from publisher

    File URL: http://link.springer.com/10.1007/s10957-006-9051-6
    File Function: Abstract
    Download Restriction: Access to the full text of the articles in this series is restricted.

    File URL: https://libkey.io/10.1007/s10957-006-9051-6?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. C. Y. Tzeng, 1998. "Optimal Control of a Ship for a Course-Changing Maneuver," Journal of Optimization Theory and Applications, Springer, vol. 97(2), pages 281-297, May.
    2. A. Miele & T. Wang, 2004. "New Approach To The Collision Avoidance Problem For A Ship," International Game Theory Review (IGTR), World Scientific Publishing Co. Pte. Ltd., vol. 6(01), pages 137-155.
    3. A. Miele & T. Wang & C. S. Chao & J. B. Dabney, 1999. "Optimal Control of a Ship for Course Change and Sidestep Maneuvers," Journal of Optimization Theory and Applications, Springer, vol. 103(2), pages 259-282, November.
    4. Y. Yavin & C. Frangos & T. Miloh & G. Zilman, 1997. "Collision Avoidance by a Ship with a Moving Obstacle: Computation of Feasible Command Strategies," Journal of Optimization Theory and Applications, Springer, vol. 93(1), pages 53-66, April.
    5. A. Miele & T. Wang, 2003. "Multiple-Subarc Gradient-Restoration Algorithm, Part 1: Algorithm Structure," Journal of Optimization Theory and Applications, Springer, vol. 116(1), pages 1-17, January.
    6. A. Miele & T. Wang, 2003. "Multiple-Subarc Gradient-Restoration Algorithm, Part 2: Application to a Multistage Launch Vehicle Design," Journal of Optimization Theory and Applications, Springer, vol. 116(1), pages 19-39, January.
    7. A. Miele & T. Wang & C. S. Chao & J. B. Dabney, 1999. "Optimal Control of a Ship for Collision Avoidance Maneuvers," Journal of Optimization Theory and Applications, Springer, vol. 103(3), pages 495-519, December.
    8. A. Miele & T. Wang, 2005. "Maximin Approach to the Ship Collision Avoidance Problem via Multiple-Subarc Sequential Gradient-Restoration Algorithm," Journal of Optimization Theory and Applications, Springer, vol. 124(1), pages 29-53, January.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. T. Tarnopolskaya & N. Fulton & H. Maurer, 2012. "Synthesis of Optimal Bang–Bang Control for Cooperative Collision Avoidance for Aircraft (Ships) with Unequal Linear Speeds," Journal of Optimization Theory and Applications, Springer, vol. 155(1), pages 115-144, October.
    2. Erick J. Rodríguez-Seda & Dušan M. Stipanović & Mark W. Spong, 2016. "Guaranteed Collision Avoidance for Autonomous Systems with Acceleration Constraints and Sensing Uncertainties," Journal of Optimization Theory and Applications, Springer, vol. 168(3), pages 1014-1038, March.
    3. T. Tarnopolskaya & N. Fulton, 2010. "Synthesis of Optimal Control for Cooperative Collision Avoidance for Aircraft (Ships) with Unequal Turn Capabilities," Journal of Optimization Theory and Applications, Springer, vol. 144(2), pages 367-390, February.
    4. T. Tarnopolskaya & N. Fulton, 2009. "Optimal Cooperative Collision Avoidance Strategy for Coplanar Encounter: Merz’s Solution Revisited," Journal of Optimization Theory and Applications, Springer, vol. 140(2), pages 355-375, February.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. A. Miele & T. Wang, 2005. "Maximin Approach to the Ship Collision Avoidance Problem via Multiple-Subarc Sequential Gradient-Restoration Algorithm," Journal of Optimization Theory and Applications, Springer, vol. 124(1), pages 29-53, January.
    2. A. Miele & T. Wang & J. A. Mathwig & M. Ciarcià, 2010. "Collision Avoidance for an Aircraft in Abort Landing: Trajectory Optimization and Guidance," Journal of Optimization Theory and Applications, Springer, vol. 146(2), pages 233-254, August.
    3. A. Miele & T. Wang & C. S. Chao & J. B. Dabney, 1999. "Optimal Control of a Ship for Collision Avoidance Maneuvers," Journal of Optimization Theory and Applications, Springer, vol. 103(3), pages 495-519, December.
    4. Mauro Pontani & Bruce Conway, 2014. "Optimal Low-Thrust Orbital Maneuvers via Indirect Swarming Method," Journal of Optimization Theory and Applications, Springer, vol. 162(1), pages 272-292, July.
    5. A. Miele & M. W. Weeks & M. Ciarcià, 2007. "Optimal Trajectories for Spacecraft Rendezvous," Journal of Optimization Theory and Applications, Springer, vol. 132(3), pages 353-376, March.
    6. T. Tarnopolskaya & N. Fulton & H. Maurer, 2012. "Synthesis of Optimal Bang–Bang Control for Cooperative Collision Avoidance for Aircraft (Ships) with Unequal Linear Speeds," Journal of Optimization Theory and Applications, Springer, vol. 155(1), pages 115-144, October.
    7. A. Miele & M. Ciarcià, 2008. "Optimal Starting Conditions for the Rendezvous Maneuver, Part 1: Optimal Control Approach," Journal of Optimization Theory and Applications, Springer, vol. 137(3), pages 593-624, June.
    8. N. Yokoyama & S. Suzuki & T. Tsuchiya, 2008. "Convergence Acceleration of Direct Trajectory Optimization Using Novel Hessian Calculation Methods," Journal of Optimization Theory and Applications, Springer, vol. 136(3), pages 297-319, March.
    9. T. Tarnopolskaya & N. Fulton, 2009. "Optimal Cooperative Collision Avoidance Strategy for Coplanar Encounter: Merz’s Solution Revisited," Journal of Optimization Theory and Applications, Springer, vol. 140(2), pages 355-375, February.
    10. T. Tarnopolskaya & N. Fulton, 2010. "Synthesis of Optimal Control for Cooperative Collision Avoidance for Aircraft (Ships) with Unequal Turn Capabilities," Journal of Optimization Theory and Applications, Springer, vol. 144(2), pages 367-390, February.
    11. A. Miele & T. Wang & C. S. Chao & J. B. Dabney, 1999. "Optimal Control of a Ship for Course Change and Sidestep Maneuvers," Journal of Optimization Theory and Applications, Springer, vol. 103(2), pages 259-282, November.
    12. A. Miele & M. Ciarcià & M. W. Weeks, 2007. "Guidance Trajectories for Spacecraft Rendezvous," Journal of Optimization Theory and Applications, Springer, vol. 132(3), pages 377-400, March.
    13. Alexei Kolokolov, 2011. "Futures hedging: Multivariate GARCH with dynamic conditional correlations (in Russian)," Quantile, Quantile, issue 9, pages 61-75, July.
    14. A. Miele & T. Wang, 2003. "Multiple-Subarc Gradient-Restoration Algorithm, Part 1: Algorithm Structure," Journal of Optimization Theory and Applications, Springer, vol. 116(1), pages 1-17, January.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:spr:joptap:v:129:y:2006:i:1:d:10.1007_s10957-006-9051-6. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Sonal Shukla or Springer Nature Abstracting and Indexing (email available below). General contact details of provider: http://www.springer.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.