Autonomous docking using direct optimal control

被引：37

作者：

Martinsen, Andreas B. ^{[1
]}

Lekkas, Anastasios M. ^{[1
]}

Gros, Sebastien ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol NTNU, Dept Engn Cybernet, NO-7491 Trondheim, Norway

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 21期

关键词：

Docking; Optimal Control; Autonomous vehicles; Numerical Optimization; Path planning; CONTROL ALLOCATION;

D O I：

10.1016/j.ifacol.2019.12.290

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The proposed method is an all-encompassing procedure for performing both docking, maneuvering, dynamic positioning and control allocation. In addition, we show that the method can be implemented as a real-time MPC-based algorithm on simulation results of a supply vessel. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

引用

页码：97 / 102

页数：6

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