文章基本信息

标题：Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments ⁎
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作者：Glenn Bitar ; Andreas B. Martinsen ; Anastasios M. Lekkas 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：14488-14494
DOI：10.1016/j.ifacol.2020.12.1451
语种：English
出版社：Elsevier
摘要：AbstractWe propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. The trajectory planner provides collision-free trajectories by considering a map with static obstacles, and produces feasible trajectories through inclusion of a mathematical model of the ASV and its actuators. The DP controller tracks the time-parametrized position, velocity and acceleration produced by the trajectory planner using proportional-integral-derivative feedback with velocity and acceleration feed forward. The method’s performance is tested on a small ASV in confined waters in Trondheim, Norway. The ASV performs collision-free docking maneuvers with respect to static obstacles when tracking the generated reference trajectories and achieves successful docking.
关键词：KeywordsAutonomous surface vehiclesautomatic dockingmodel predictive controloptimal controlpath planning