## Optimal Waterway and Harbor Navigation of Large Vessels

- Alan H. Zorn
- 2012

In this paper, we consider the minimum-time reorientation problem of an axi-symmetric rigid spacecraft with two independent control torques mounted perpendicular to the spacecraft symmetry axis. The spacecraft is allowed to spin about its symmetry axis. All possible control structures, including both singular and nonsingular arcs, are studied completely by… (More)