Islab at 04:54, 3 October 2022

2022-10-03T04:54:16Z

Islab: The motion planning can be done by classical algorithms such as A* or RRT* to traverse in the graph. This would have to be calculated live as the vessel travels to different destinations

2022-09-27T16:06:47Z

The motion planning can be done by classical algorithms such as A* or RRT* to traverse in the graph. This would have to be calculated live as the vessel travels to different destinations

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{{StudentProjectTemplate
|Summary=Path and Motion Planning for a Ferry
|Programme=ITE
|Keywords=Path Planning
|TimeFrame=2 Terms
|Supervisor=Slawomir Nowaczyk, Yuantao Fan, Hadi Fanaee, or Mohamed Abuella
|Level=Master
|Status=Draft
}}
Project description

Path/Motion Planning
Introduction
Reducing fuel of marine traffic is a complex task that involves everything from path planning to control parameters such as acceleration pedal
position and heading. Tackling the entire problem is a big task and is therefor preferable to divide into well defined sub projects. This document
will describe the end goal and suggest different parts of the main objective to ensure reachable goals.

Goal
The end goal is to provide a full motion control of the vessel from a point A to B. This would include path (including heading-course over ground
difference) as well as speed (including acceleration pedal position). This would be optimised with the help of a cost function and a motion
planning algorithm inside a sufficiently detailed graph. The cost function will be based on multiple factors, mainly fuel, but also total time of the
travel as well as energy division between different sources. The graph will be a multi dimensional graph where longitude, latitude, speed,
heading, wind, etc can be considered as dimensions. The graph should be sufficiently detailed in different ranges of the dimensions. For example
the longitude and latitude can take longer steps in open sea and shorter close to harbours

@@ Line 6: / Line 6: @@
 |Supervisor=Slawomir Nowaczyk, Yuantao Fan, Hadi Fanaee, or Mohamed Abuella
 |Level=Master
-|Status=Draft
+|Status=Internal Draft
 }}
 Project description

Path Planning - Revision history

Islab at 04:54, 3 October 2022

Islab: The motion planning can be done by classical algorithms such as A* or RRT* to traverse in the graph. This would have to be calculated live as the vessel travels to different destinations