Platform Berthing Trajectory Planning Based on Pseudospectral Method
WANG Haiyuan
LI Jianzhen
SU Zhen
Abstract：Taking deep-water semi submersible support platform as the research object,in order to improve the berthing effi?ciency,the navigation trajectory of the support platform is optimized.Through the relevant analysis of the platform navigation pro?cess,the model of the platform＇s motion and the environmental force model are established. And combined with the actual problem the relevant parameters are constrained and the objective function is determined. The pseudospectral method is used to transform the optimal control problem into a nonlinear programming problem. The simulation results show that the pseudospectral method has a good effect on the track optimization of the solution platform,which can meet the relevant requirements and has certain application value.
Keywords：deep water support platformpseudospectral methodpath planningoptimal control
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 56-60,112 )