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    Time optimal Zermelo's navigation problem with moving and fixed obstacles

    Access Status
    Fulltext not available
    Authors
    Li, B.
    Xu, C.
    Teo, Kok Lay
    Chu, J.
    Date
    2013
    Type
    Journal Article
    
    Metadata
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    Citation
    Li, Bin and Xu, Chao and Teo, Kok Lay and Chu, Jian. 2013. Time optimal Zermelo's navigation problem with moving and fixed obstacles. Applied Mathematics and Computations. 244: pp. 866-875.
    Source Title
    Applied Mathematics and Computations
    DOI
    10.1016/j.amc.2013.08.092
    ISSN
    0096-3003
    URI
    http://hdl.handle.net/20.500.11937/36117
    Collection
    • Curtin Research Publications
    Abstract

    In this paper, we consider a time optimal Zermelo’s navigation problem (ZNP) with moving and fixed obstacles. This problem can be formulated as an optimal control problem with continuous inequality constraints and terminal state constraints. By using the control parametrization technique together with the time scaling transform, the problem is transformed into a sequence of optimal parameters selection problems with continuous inequality constraints and terminal state constraints. For each problem, an exact penalty function method is used to append all the constraints to the objective function yielding a new unconstrained optimal parameters selection problem. It is solved as a nonlinear optimization problem. Different scenarios are considered in the simulation, and the results obtained show that the proposed method is effective.

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