Autonomous navigation of ships by combining optimal trajectory planning with informed graph search

DOI10.1080/13873954.2021.2007138MaRDI QIDQ5068837zbMATH OpenOpenAlexFDO

Authors Luis Lüttgens, Benjamin Jurgelucks, Heinrich Wernsing, Sylvain Roy, Kathrin Flasskamp, Christof Büskens

Publication date 7 April 2022

Published in Mathematical and Computer Modelling of Dynamical Systems (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1080/13873954.2021.2007138

zbMATH Keywords

\(\mathrm{A}^*\) planningautonomous navigationmotion planningoptimal controlship dynamics

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

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• Planning Algorithms
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Cited in

(2)

• Trajectory planning for autonomous underwater vehicles in the presence of obstacles and a nonlinear flow field using mixed integer nonlinear programming
• Computation of feasible command strategies for the navigation of a ship in a narrow zigzag channel

Describes a project that uses

Uses Software

• KNITRO
• SNOPT
• WORHP
• Ipopt
• OpenStreetMap

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