Encyclopedia of Systems and Control

2015 Edition
| Editors: John Baillieul, Tariq Samad

Motion Planning for Marine Control Systems

Reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5058-9_124

Abstract

In this chapter we review motion planning algorithms for ships, rigs, and autonomous marine vehicles. Motion planning includes path and trajectory generation, and it goes from optimized route planning (off-line long-range path generation through operating research methods) to reactive on-line trajectory reference generation, as given by the guidance system. Crucial to the marine systems case is the presence of environmental external forces (sea state, currents, winds) that drive the optimized motion generation process.

Keywords

Configuration space Dynamic programming Grid search Guidance controller Guidance system Maneuvering Motion plan Optimization algorithms Path generation Route planning Trajectory generation World space 
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Copyright information

© Springer-Verlag London 2015

Authors and Affiliations

  1. 1.DII – Department of Information Engineering & Centro “E. Piaggio”ISME – Interuniversity Research Centre on Integrated Systems for the Marine Environment, University of PisaPisaItaly