A computational method in ship routing using the concept of limited manoeuvrability

Under some circumstances, dependent on a ship's velocity, the wave period and wave direction, certain courses induce heavy rolling and must be avoided. This paper proposes a computational method for the solution of optimal control problems in ship routing for ships with such limited manoeuvrability. Known results for the control problem of Bolza with additional constraints are interpreted in terms of this new problem. This approach is equivalent to the application of Pontryagin's maximum principle. The method is an extension of an earlier method dealing with the meteorological navigation of ships with unrestricted manoeuvrability and gives a more realistic picture of what really could happen in practice.