Weather Route Optimization Method of Unmanned Ship Based on Continuous Dynamic Optimal Control (original) (raw)
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Applied Ocean Research, 2013
This study proposes a ship weather-routing algorithm based on the composite influence of multi-dynamic elements for determining the optimized ship routes. The three-dimensional modified isochrone (3DMI) method utilizing the recursive forward technique and floating grid system for the ship tracks is adopted. The great circle sailing (GCR) is considered as the reference route in the earth coordinate system. Illustrative optimized ship routes on the North Pacific Ocean have been determined and presented based on the realistic constraints, such as the presence of land boundaries, non-navigable sea, seaway influences, roll response as well as ship speed loss. The proposed calculation method is effective for optimizing results by adjusting the weighting factors in the objective functions. The merits of the proposed method can be summarized as: (1) the navigability of the route can be analyzed dynamically to acquire the optimal route; (2) adopting multidynamic elements as weighting factors has the benefits in energy efficiency, time-saving and minimum voyage distance; and (3) an ability to enhance speed performance and to incorporate safety concern in a dynamic environment.
Ship voyage optimization for safe and energy-efficient navigation: A dynamic programming approach
Ocean Engineering, 2018
The paper presents a 3D dynamic programming based ship voyage optimization method, aiming to select the optimal path and speed profile for a ship voyage on the basis of weather forecast maps. The optimization is performed in accordance to a minimum fuel consumption strategy taking also into account ship motions and comfort. The optimization is carried out in a discretized space-time domain: the ship voyage is parametrized as a multi-stage decision process in order to formulate a dynamic programming optimization problem. Waves and wind conditions are estimated for each route segment by weather forecasting maps then seakeeping related indexes and fuel oil consumption are computed taking into account wave-induced ship motions and added resistance. The best routing solution is thus selected by a dynamic programming algorithm developed and implemented by the authors. Results and discussion of the proposed method are presented for a merchant ship application in a test case voyage through the Northern Atlantic Ocean and compared to the constant speed great circle solution.
Multi-Objective Weather Routing of Sailing Vessels
Polish Maritime Research, 2017
The paper presents a multi-objective deterministic method of weather routing for sailing vessels. Depending on a particular purpose of sailboat weather routing, the presented method makes it possible to customize the criteria and constraints so as to fit a particular user’s needs. Apart from a typical shortest time criterion, safety and comfort can also be taken into account. Additionally, the method supports dynamic weather data: in its present version short-term, mid-term and long-term term weather forecasts are used during optimization process. In the paper the multi-objective optimization problem is first defined and analysed. Following this, the proposed method solving this problem is described in detail. The method has been implemented as an online SailAssistance application. Some representative examples solutions are presented, emphasizing the effects of applying different criteria or different values of customized parameters.
International Journal of Electrical and Computer Engineering (IJECE), 2023
Efficient operation plays a vital role to develop a sustainable shipping fleet with cost competitive. The requirements for economic efficiency, energy efficiency, reducing emissions, and increasing safety and security lead to an innovative model in the optimal weather routing system. The vessel routing is influenced by the quality of meteorological and oceanographic data such as wind, waves, and currents. In this study, the model optimization of weather routing considers the meteorological and oceanographic information, ship's characteristics combined with an adaptive bacterial foraging optimization algorithm (BFOA) will be introduced and applied to the ship' navigation at sea. The simulation results will be evaluated the effectiveness and reliability of the model. This model will support ships' navigation to be safer and more comfortable, operate more efficiently and reduce emissions.
Multi-Objective Weather Routing of Sailboats Considering Wave Resistance
Polish Maritime Research, 2018
The article presents a method to determine the route of a sailing vessel with the aid of deterministic algorithms. The method assumes that the area in which the route is to be determined is limited and the basic input data comprise the wind vector and the speed characteristic of the vessel. Compared to previous works of the authors, the present article additionally takes into account the effect of sea waves with the resultant resistance increase on the vessel speed. This approach brings the proposed model closer to real behaviour of a sailing vessel. The result returned by the method is the sailing route, optimised based on the multi-criteria objective function. Along with the time criterion, this function also takes into account comfort of voyage and the number of performed turns. The developed method has been implemented as simulation application SaillingAssistance and experimentally verified.
Path planning for marine fleet using heuristic approach
International Journal of System of Systems Engineering, 2013
Nowadays, the use of unmanned vehicles for border monitoring is taking over in order to reduce the effort of human operators. This paper addresses the problem of the coastal patrolling by proposing a solution based on unmanned underwater and surface vehicles. The focus of the work is on the design of the routes for the unmanned vehicles so as to optimise the limited mission range of the robotic platforms and to allow the re-visit of sensitive areas. A heuristic approach is proposed to compute the navigation plans: it includes a surface platoon to support the underwater vehicles in localisation and communication. The route-planning problem is cast into multiple travelling salesmen problem and solved by applying different heuristic methods for the patrolling mission and the support mission. The first one exploits simulated annealing, while the second one adopts the tabu search. Some promising results are presented, based on simulation.
Kapal: Jurnal Ilmu Pengetahuan dan Teknologi Kelautan
The role of ships is very important for the world economy as a means of transporting goods both between countries and between islands. The selection of ship routes is very crucial in efforts to optimize fuel costs. Application of optimization, Genetic Algorithm and Ant Colony to solve the Asymetric Traveling Salesman Problem (ATSP) model with the minimum fuel cost objective function. This study aims to determine shipping routes for initial/final destinations with lower fuel costs. The results of research on the best route for container ships develop a Traveling Salesman Problem model for decision making for the design of maritime logistics networks with optimum operational costs. The Ant Colony algorithm provides 8 routes with lower fuel costs than the genetic algorithm and the genetic algorithm provides 2 routes with lower costs than the Ant Colony algorithm. This proves that the Ant Colony algorithm is more effective in determining ship routes with the lowest fuel costs.
Evolutionary Multi–Objective Weather Routing of Sailboats
Polish Maritime Research, 2020
The paper presents a multi-objective method, which optimises the route of a sailboat. The presented method makes use of an evolutionary multi-objective (EMO) algorithm, which performs the optimisation according to three objective functions: total passage time, a sum of all course alterations made during the voyage and the average angle of heel. The last two of the objective functions reflect the navigator’s and passenger’s comfort, which may decrease with multiple turns or when experiencing an excessive heel angle for a long time. The optimisation process takes into account static bathymetry-related constraints as well as dynamic constraints related to the sailboat’s safety in changing wind and wave conditions. The method makes use of all of the above and finally returns an approximated Pareto set containing non-dominated solutions to the optimisation problem. The developed method has been implemented as a simulation application. The paper includes selected simulation results follow...
Ant Colony Optimization Algorithm Applied to Ship Steering Control
Procedia Computer Science, 2014
The article describes the application of an ant algorithm to optimize parameters of the ship course controller, based on the algorithm of PID control. The ant algorithm is a method of combinatorial optimization, which utilizes the pattern of ants search for the shortest path from the nest to the place where the food is located. The procedure of parameter tuning for the ship course controller was applied to the case when the controller was changing the course of the ship and the integral action was turned off. Tuned parameters of the ship course controller are evaluated by the ant colony algorithm, which makes use of the course error based objective function and a given rudder deflection. The results were compared with equivalent results obtained using a genetic algorithm. Moreover, the effectiveness of PID controller parameter tuning was assessed using the ant colony optimization algorithm.