2 papers
eess.SY2021
Flatness-based MPC for underactuated surface vessels in confined areas
Simon Helling, Max Lutz, Thomas Meurer
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments. For general driving maneuvers (phase one) the ship's…
eess.SY2021
On the Dual Implementation of Collision-Avoidance Constraints in Path-Following MPC for Underactuated Surface Vessels
Simon Helling, Christian Roduner, Thomas Meurer
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by mean…