Horizontal well’s path planning: An optimal switching control approach

• Published in: Applied mathematical modelling Vol. 39; no. 14; pp. 4022 - 4032
• Main Authors: Gong, Zhaohua, Teo, Kok Lay, Liu, Chongyang, Feng, Enmin
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 15.07.2015
• Subjects: Computational method; Continuous state inequality constraint; Horizontal well’s path planning; Optimal switching control; Time-scaling transformation; Computational method; Optimal switching control; Horizontal well’s path planning; Continuous state inequality constraint; Time-scaling transformation
• ISSN: 0307-904X
• DOI: 10.1016/j.apm.2014.12.014

In this paper, we consider a three-dimensional horizontal well’s path planning problem, where the well’s path evolves as a combination of several constant-curvature smooth turn segments. The problem is formulated as an optimal switching control problem subject to continuous state inequality constraints. By applying the time-scaling transformation and constraint transcription in conjunction with local smooth approximation technique, the optimal switching control problem is approximated by a sequence of optimal parameter selection problems with only box constraints, each of which is solvable by gradient-based optimization techniques. The optimal path planning problems of the wells Ci-16-Cp146 and Jin27 in Liaohe oil field are solved to demonstrate the applicability of the approach proposed.