טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentAdar Shachar
SubjectUSV Path Planning in Using Optimal Control in a Dynamic
Obstacle Environment
DepartmentDepartment of Mechanical Engineering
Supervisors Professor Emeritus Per-Olof Gutman
Mr. Ilya Ioslovich


Abstract

The goal of this research project was to develop a 2-D path planning algorithm for unmanned surface vehicles (USV) for avoiding dynamic obstacles. The model of the USV is the full three-degree of freedom horizontal model with constraints. The USV mission is to traverse from an initial starting point and reach the target point in minimum time, while avoiding dynamic obstacles. The numerical solver used to compute the optimal trajectories is the DIDO?    software package which is based on the pseudospectral method to solve optimal control problems. Simulations and videos showing the results illustrate the performance of the planner that is based on USV initial position, dimensions, orientation and the location of target, as well as on the initial position of the dynamic obstacle, its dimensions and velocity vector. The computation of the USV trajectory is based on its 6 dynamic equations with 6   states and 2 control variables, and state and control constraints.  The main challenge in this work was to transform and adapt the problem to the DIDO framework. The satisfaction of the necessary conditions for optimality were analysed for the found solutions. The novelty of this work includes the use of a full 3 d-o-f USV model with a dynamic obstacle, and optimal control to solve this specific problem.  The computation times are evaluated is order to implement the optimal solver in a real-time Model-Predictive Control setting.