A Model Predictive Control Approach to Enhance Obstacle Avoidance While Performing Autonomous Docking

• Type: Article in International Conference Proceedings Book
• Date: 2024

Authors

Pinto A. (Author) Other; Ferreira B.M. (Author) Other; Nuno Cruz (Author) FEUP; Soares S.P. (Author) Other; Cunha J.B. (Author) Other

Conference proceedings International

Title: Oceans Conference Record (IEEE)

Pages: 1-6

OCEANS 2024 - Singapore, OCEANS 2024

Singapore, 15 April 2024 through 18 April 2024

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-017-GJN

DOI: 10.1109/oceans55160.2024.10753848

Abstract (EN): In the present paper, we propose a control approach to perform docking of an autonomous surface vehicle (ASV) while avoiding surrounding obstacles. This control architecture is composed of two sequential controllers. The first outputs a feasible trajectory between the vessel's initial and target state while avoiding obstacles. This trajectory also minimizes the vehicle velocity while performing the maneuvers to increase the safety of onboard passengers. The second controller performs trajectory tracking while accounting for the actuator's physical limits (extreme actuation values and the rate of change). The method's performance is tested on simulation, as it enables a reliable ground truth method to validate the control architecture proposed.

Language: English

Type (Professor's evaluation): Scientific