Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments

被引：33

作者：

Bitar, Glenn ^{[1
]}

Martinsen, Andreas B. ^{[1
]}

Lekkas, Anastasios M. ^{[1
]}

Breivik, Morten ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol NTNU, Ctr Autonomous Marine Operat & Syst, Dept Engn Cybernet, OS Bragstads Plass 2D, NO-7491 Trondheim, Norway

来源：

IFAC PAPERSONLINE | 2020年 / 53卷 / 02期

关键词：

Autonomous surface vehicles; automatic docking; model predictive control; optimal control; path planning;

D O I：

10.1016/j.ifacol.2020.12.1451

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 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. Copyright (C) 2020 The Authors.

引用

页码：14488 / 14494

页数：7

共 9 条

[1] Warm-Started Optimized Trajectory Planning for ASVs [J].