Autonomous docking using direct optimal control
arXiv:1910.11625 · doi:10.1016/j.ifacol.2019.12.290
Abstract
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.
12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019). IFAC; Daejeon. 2019-09-18 - 2019-09-20