Trajectory Optimisation for a Manoeuvre Guidance System in Inland Water Traffic

Abstract

The increasing traffic on inland waterways demands the adaption of extended routing and manoeuvre planning in order to increase the safety and to improve the time and resource efficient transport of goods and passengers. A basis is the calculation of an optimal trajectory for a vessel taking infrastructures in the fairway into account. A further prerequisite is the ability to monitor and to react to changes in the fairway, such as other traffic participants, and to update the trajectory in a timely manner. Mathematical optimisation methods can be used to meet these requirements. This paper discusses two different algorithms and compares both in terms of calculation effort and real-time computation. Finally one method, the Optimal Control Problem-solver (OCP), will be chosen to be implemented in the manoeuvre guidance system.