Innovative Optimal Control Path Planning for PMCU in Cruise Ship Construction: A Kinematic and Obstacle Avoidance Model
Jinghua Li,
Ruipu Dong,
Wenhao Huang
Abstract:In cruise ship manufacturing, it is common practice for prefabricated modular cabin units (PMCU) to be assembled in the workshop and transported to a designated installation location on board the ship. This paper proposed a Radau pseudospectral method based on a probabilistic roadmap (PRM) for PMCU path planning in complex deck environments. Firstly, a kinematic model is constructed, and the continuous-time optimal control path planning problem is established. Among them, an area-based obstacle avoidance const… Show more
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